Rotating Anchor based Direction Estimation Algorithm with Data Smoothing
Liyuan Xu, Jie He, Yanan Wu, Peng Wang, Qin Wang, Yue Qi, University of Science and Technology Beijing, China
Efficient indoor positioning without additional infrastructure is crucial in crisis applications, specifically for rescuing the first responders in danger like firefighters. In this paper, we firstly proposed the concept of rotating anchor-based peer-to-peer (P2P) positioning method and presented such an indoor localization system using time of arrival (TOA) measurements. In this system, the rescuer can be guided to the target relying mainly on horizontal relative direction estimation with auxiliary information including altitude difference with barometer and range estimation with TOA. Then, the algorithm of direction estimation for P2P relative positioning was put forward and verified leading better performance than other algorithms with the empirical measurements using utility node devices in an office building.