Recursive Gaussian Processes and Fingerprinting for Indoor Navigation

Tales Imbiriba, Peng Wu, Gerald LaMountain, Deniz Erdogmus, and Pau Closas

Abstract: This paper investigates the use of Gaussian Processes (GP) for RSS fingerprinting-based navigation. In particular, a recursive GP scheme to adapt the fingerprints as they evolve over time is discussed which accounts for the uncertainty of position labels associated to new RSS measurements. The marginalization over the uncertainty of position labels is here implemented numerically through cubature rules, which is seen from computer simulations to enhance field estimation performance and, ultimately, positioning results.
Published in: 2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)
April 20 - 23, 2020
Hilton Portland Downtown
Portland, Oregon
Pages: 933 - 940
Cite this article: Imbiriba, Tales, Wu, Peng, LaMountain, Gerald, Erdogmus, Deniz, Closas, Pau, "Recursive Gaussian Processes and Fingerprinting for Indoor Navigation," 2020 IEEE/ION Position, Location and Navigation Symposium (PLANS), Portland, Oregon, April 2020, pp. 933-940.
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