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IEEE TRANSACTIONS ON SYSTEMS.MAN.AND CYBERNETICS-PART C:APPLICATIONS AND REVIEWS.VOL.37.NO.6.NOVEMBER 2007 106 Survey of Wireless Indoor Positioning Techniques and Systems Hui Liu,Student Member,IEEE,Houshang Darabi,Member,IEEE,Pat Banerjee,and Jing Liu Abstract-Wireless indoor positioning systems have become very An astonishing growth of wireless systems has been wit- popular in recent years.These systems have been successfully used nessed in recent years.Wireless technologies have entered the in many applications such as asset tracking and inventory man- realms of consumer applications,as well as medical,industrial, agement.This paper provides an overview of the existing wireless indoor positioning solutions and attempts to classify different tech- public safety,logistics,and transport system along with many niques and systems.Three typical location estimation schemes of other applications.Self-organizing sensor networks,location triangulation,scene analysis,and proximity are analyzed.We also sensitive billing,ubiquitous computing,context-dependent in- discuss location fingerprinting in detail since it is used in most cur- formation services,tracking,and guiding are some of the nu- rent system or solutions.We then examine a set of properties by which location systems are evaluated,and apply this evaluation merous possible application areas.Since wireless information method to survey a number of existing systems.Comprehensive access is now widely available,there is a high demand for ac- performance comparisons including accuracy,precision,complex- curate positioning in wireless networks,including indoor and ity,scalability,robustness,and cost are presented. outdoor environments [1,[2].The process of determining a lo- Index Termns-Indoor location sensing,location fingerprinting, cation is called location sensing,geolocation,position location, positioning algorithm,radio frequency(RF),wireless localization. or radiolocation,if it uses wireless technologies. Different applications may require different types of loca- I.INTRODUCTION tion information.The main types discussed in this paper are NDOOR location sensing systems have become very pop- physical location,symbolic location,absolute location,and rel- ular in recent years.These systems provide a new layer of ative location [1].Physical location is expressed in the form of automation called automatic object location detection.Real- coordinates,which identify a point on a 2-D/3-D map.The world applications depending on such automation are many.To widely used coordinate systems are degree/minutes/seconds name a few.one can consider the location detection of products (DMS),degree decimal minutes,and universal transverse mer- stored in a warehouse,location detection of medical personnel cator (UTM)system.Symbolic location expresses a location in or equipment in a hospital,location detection of firemen in a a natural-language way,such as in the office,in the third-floor building on fire,detecting the location of police dogs trained to bedroom,etc.Absolute location uses a shared reference grid for find explosives in a building,and finding tagged maintenance all located objects.A relative location depends on its own frame tools and equipment scattered all over a plant. of reference.Relative location information is usually based on The primary progress in indoor location sensing systems has the proximity to known reference points or base stations. been made during the last ten years.Therefore,both the research Various wireless technologies are used for wireless indoor and commercial products in this area are new,and many people location.These may be classified based on:1)the location po- in academia and industry are currently involved in the research sitioning algorithm,i.e.,the method of determining location. and development of these systems.This survey paper aims to making use of various types of measurement of the signal such provide the reader with a comprehensive review of the wireless as Time Of Flight (TOF),angle,and signal strength;2)the location sensing systems for indoor applications.When possi- physical layer or location sensor infrastructure,i.e.,the wireless ble,the paper compares the related techniques and systems.The technology used to communicate with the mobile devices or authors hope that this paper will act as a guide for researchers, static devices.In general,measurement involves the transmis- users,and developers of these systems,and help them iden- sion and reception of signals between hardware components of tify the potential research problems and future products in this the system.An indoor wireless positioning system consists of at least two separate hardware components:a signal transmitter emerging area. and a measuring unit.The latter usually carries the major part Manuscript received September 27,2005;revised March 26,2006.This of the system“intelligence.” work was supported in part by the National Institute of Standards and There are four different system topologies for positioning sys- Technology/Advanced Technology Program Grant and in part by the Illinois Law Enforcement Alarm System under a Department of Homeland Security tems [3].The first one is the remote positioning system,whose grant.This paper was recommended by Associate Editor P.Samz. signal transmitter is mobile and several fixed measuring units H.Liu is with the Department of Electrical and Computer Engineering,Uni- receive the transmitter's signal.The results from all measuring versity of Illinois at Chicago,Chicago,IL 60612 USA (e-mail:hliu13@uic.edu). H.Darabi and P.Banerjee are with the Department of Mechanical and In- units are collected,and the location of the transmitter is com- dustrial Engineering.University of Illinois at Chicago,Chicago,IL 60607 USA puted in a master station.The second is self-positioning in which (e-mail:hdarabi@uic.edu;banerjee@uic.edu). the measuring unit is mobile.This unit receives the signals of J.Liu is with General Motors,Warren,MI 48090 USA (e-mail:jing.liu@ gm.com). several transmitters in known locations,and has the capability to Digital Object Identifier 10.1109/TSMCC.2007.905750 compute its location based on the measured signals.If a wireless 1094-6977/S25.00©2007EEE Authorized licensed use limited to:University of Pittsburgh.Downloaded on January 27.2009 at 17:04 from IEEE Xplore.Restrictions apply.IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS—PART C: APPLICATIONS AND REVIEWS, VOL. 37, NO. 6, NOVEMBER 2007 1067 Survey of Wireless Indoor Positioning Techniques and Systems Hui Liu, Student Member, IEEE, Houshang Darabi, Member, IEEE, Pat Banerjee, and Jing Liu Abstract—Wireless indoor positioning systems have become very popular in recent years. These systems have been successfully used in many applications such as asset tracking and inventory man￾agement. This paper provides an overview of the existing wireless indoor positioning solutions and attempts to classify different tech￾niques and systems. Three typical location estimation schemes of triangulation, scene analysis, and proximity are analyzed. We also discuss location fingerprinting in detail since it is used in most cur￾rent system or solutions. We then examine a set of properties by which location systems are evaluated, and apply this evaluation method to survey a number of existing systems. Comprehensive performance comparisons including accuracy, precision, complex￾ity, scalability, robustness, and cost are presented. Index Terms—Indoor location sensing, location fingerprinting, positioning algorithm, radio frequency (RF), wireless localization. I. INTRODUCTION I NDOOR location sensing systems have become very pop￾ular in recent years. These systems provide a new layer of automation called automatic object location detection. Real￾world applications depending on such automation are many. To name a few, one can consider the location detection of products stored in a warehouse, location detection of medical personnel or equipment in a hospital, location detection of firemen in a building on fire, detecting the location of police dogs trained to find explosives in a building, and finding tagged maintenance tools and equipment scattered all over a plant. The primary progress in indoor location sensing systems has been made during the last ten years. Therefore, both the research and commercial products in this area are new, and many people in academia and industry are currently involved in the research and development of these systems. This survey paper aims to provide the reader with a comprehensive review of the wireless location sensing systems for indoor applications. When possi￾ble, the paper compares the related techniques and systems. The authors hope that this paper will act as a guide for researchers, users, and developers of these systems, and help them iden￾tify the potential research problems and future products in this emerging area. Manuscript received September 27, 2005; revised March 26, 2006. This work was supported in part by the National Institute of Standards and Technology/Advanced Technology Program Grant and in part by the Illinois Law Enforcement Alarm System under a Department of Homeland Security grant. This paper was recommended by Associate Editor P. Samz. H. Liu is with the Department of Electrical and Computer Engineering, Uni￾versity of Illinois at Chicago, Chicago, IL 60612 USA (e-mail: hliu13@uic.edu). H. Darabi and P. Banerjee are with the Department of Mechanical and In￾dustrial Engineering, University of Illinois at Chicago, Chicago, IL 60607 USA (e-mail: hdarabi@uic.edu; banerjee@uic.edu). J. Liu is with General Motors, Warren, MI 48090 USA (e-mail: jing.liu@ gm.com). Digital Object Identifier 10.1109/TSMCC.2007.905750 An astonishing growth of wireless systems has been wit￾nessed in recent years. Wireless technologies have entered the realms of consumer applications, as well as medical, industrial, public safety, logistics, and transport system along with many other applications. Self-organizing sensor networks, location sensitive billing, ubiquitous computing, context-dependent in￾formation services, tracking, and guiding are some of the nu￾merous possible application areas. Since wireless information access is now widely available, there is a high demand for ac￾curate positioning in wireless networks, including indoor and outdoor environments [1], [2]. The process of determining a lo￾cation is called location sensing, geolocation, position location, or radiolocation, if it uses wireless technologies. Different applications may require different types of loca￾tion information. The main types discussed in this paper are physical location, symbolic location, absolute location, and rel￾ative location [1]. Physical location is expressed in the form of coordinates, which identify a point on a 2-D/3-D map. The widely used coordinate systems are degree/minutes/seconds (DMS), degree decimal minutes, and universal transverse mer￾cator (UTM) system. Symbolic location expresses a location in a natural-language way, such as in the office, in the third-floor bedroom, etc. Absolute location uses a shared reference grid for all located objects. A relative location depends on its own frame of reference. Relative location information is usually based on the proximity to known reference points or base stations. Various wireless technologies are used for wireless indoor location. These may be classified based on: 1) the location po￾sitioning algorithm, i.e., the method of determining location, making use of various types of measurement of the signal such as Time Of Flight (TOF), angle, and signal strength; 2) the physical layer or location sensor infrastructure, i.e., the wireless technology used to communicate with the mobile devices or static devices. In general, measurement involves the transmis￾sion and reception of signals between hardware components of the system. An indoor wireless positioning system consists of at least two separate hardware components: a signal transmitter and a measuring unit. The latter usually carries the major part of the system “intelligence.” There are four different system topologies for positioning sys￾tems [3]. The first one is the remote positioning system, whose signal transmitter is mobile and several fixed measuring units receive the transmitter’s signal. The results from all measuring units are collected, and the location of the transmitter is com￾puted in a master station. The second is self-positioning in which the measuring unit is mobile. This unit receives the signals of several transmitters in known locations, and has the capability to compute its location based on the measured signals. If a wireless 1094-6977/$25.00 © 2007 IEEE Authorized licensed use limited to: University of Pittsburgh. Downloaded on January 27, 2009 at 17:04 from IEEE Xplore. Restrictions apply
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