Gaussian Interpolation-Based Pedestrian Tracking in Continuous Free Spaces

We propose effective motion and observation models for the position of a WiFi-equipped smartphone user in large indoor environments. Three component motion models provide better proposal distribution of the pedestrian`s motion. Our Gaussian interpolation-based observation model can generate likelihoods at locations for which no calibration data is available. These models being incorporated into the particle filter framework, our WiFi fingerprint-based localization algorithm can track the position of a smartphone user accurately in large indoor environments. Experiments carried with an Android smartphone in a multi-story building illustrate the performance of our WiFi localization algorithm.