elec onics
A icle
Many Ways Lead o he Goal—Possibili ies o Au onomous and
In as uc u e-Based Indoo Posi ioning
Hossein Shoush a i 1,*, Thomas Willemsen 2and Ha ald S e nbe g 1


Ci a ion: Shoush a i, H.;
Willemsen, T.; S e nbe g, H. Many
Ways Lead o he Goal—
Possibili ies o Au onomous and
In as uc u e-Based Indoo
Posi ioning. Elec onics 2021,10, 397.
h ps://doi.o g/10.3390/
elec onics10040397
Academic Edi o :
Raed A. Abd-Alhameed
Recei ed: 14 Decembe 2020
Accep ed: 2 Feb ua y 2021
Published: 5 Feb ua y 2021
Publishe ’s No e: MDPI s ays neu al
wi h ega d o ju isdic ional claims in
published maps and ins i u ional a il-
ia ions.
Copy igh : © 2021 by he au ho s.
Licensee MDPI, Basel, Swi ze land.
This a icle is an open access a icle
dis ibu ed unde he e ms and
condi ions o he C ea i e Commons
A ibu ion (CC BY) license (h ps://
c ea i ecommons.o g/licenses/by/
4.0/).
1Ha enCi y Uni e si y, 20457 Hambu g, Ge many; ha ald.s e nbe [email p o ec ed]
2Hochschule Neub andenbu g, 17033 Neub andenbu g, Ge many; [email p o ec ed]
*Co espondence: hossein.shoush a i@hcu-hambu g.de
Abs ac :
The e a e many ways o na iga e in Global Na iga ion Sa elli e Sys em-(GNSS) shaded
a eas. Reliable indoo pedes ian na iga ion has been a cen al aim o echnology esea che s in
ecen yea s; howe e , he e s ill exis open challenges equi ing e-examina ion and e alua ion.
In his pape , a no el da ase is used o e alua e common app oaches o au onomous and in as uc u e-
based posi ioning me hods. The au onomous a ian is he mos cos -e ec i e ealiza ion; howe e ,
ealiza ions using he eal es da a demons a e ha he use o only au onomous solu ions canno
always p o ide a obus solu ion. The e o e, co ec ion h ough he use o in as uc u e-based
posi ion es ima ion based on sma phone echnology is discussed. This app oach in okes he
minimum cos when using exis ing in as uc u e, whe eby Pedes ian Dead Reckoning (PDR)
o ms he basis o he au onomous posi ion es ima ion. Realiza ions wi h Pa icle Fil e s (PF) and a
opological app oach a e p esen ed and discussed. Floo plans and ou ing g aphs a e used, in his
case, o suppo PDR posi ioning. The esul s show ha he posi ioning model loses s abili y a e
a gi en pe iod o ime. Fi h Gene a ion (5G) mobile ne wo ks can enable his ea u e, as well as
a massi e numbe o use-cases, which would bene i om use posi ion da a. The e o e, a usion
concep o PDR and 5G is p esen ed, he bene i o which is demons a ed using he simula ed da a.
Subsequen ly, he i s implemen a ion o PDR wi h 5G posi ioning using PF is ca ied ou .
Keywo ds:
indoo na iga ion; au onomous; in as uc u e; pa icle il e ; pedes ian dead eckoning;
usion 5G; ine ial senso s
1. In oduc ion
The de elopmen o eliable indoo posi ioning based on Mic o-Elec o-Mechanical
Senso s (MEMS) has been a cen al aim o echnology esea che s in ecen yea s.
No only a e such senso s cos and ene gy e ec i e, bu hey also co espond o Ma k
Weise ’s ision [
1
]; in ha hey wo k o e e yone, anywhe e. Thus, he objec i e is
o de elop applica ions ha a e as embedded as possible. Indeed, e e y sma phone—
ca ied a ound by almos e e yone oday—can be coun ed as a unique sou ce o such an
applica ion [2].
Ano he possibili y would be 5G New Radio (NR) ne wo ks, which a e expec ed
o enable highly accu a e posi ioning as an ideal suppo o senso -based au onomous
app oaches. They will be a ailable o he as majo i y o he popula ion, as is planned
o 2027 in he U.K., o example [
3
]. The high dependency be ween sma phones and
5G signals seems a pe ec ma ch. Mo eo e , wi eless adio-based communica ions ha e
he in insic p oblem o signal un eliabili y, due o mul ipa h e ec s and No Line-o -Sigh
signal condi ions, pa icula ly in indoo en i onmen s [
4
], which can be imp o ed by
using he abo emen ioned senso s. Ine ial measu emen uni s (IMU) a e such senso s,
which a e no highly a ec ed by en i onmen al condi ions; hus, many mode n posi ioning
echniques ely on hei use as key senso s.
The aim is o a ge hund eds o loca ion-based se ices while keeping humans as
a cen al pa o he sys em, using sensing echnologies such as wea able senso s, which
Elec onics 2021,10, 397. h ps://doi.o g/10.3390/elec onics10040397 h ps://www.mdpi.com/jou nal/elec onics
Elec onics 2021,10, 397 2 o 17
ha e been ending in applica ion [
5
]. T acking he human pose by using i ual eali y
headse s, o example, is ano he o many examples o such applica ions. Many sma
objec s, such as wa ches and shoes, can also di ec ly bene i pedes ian acking echniques,
especially in GNSS-shaded a eas whe e he e is no guiding e e ence.
To imp o e localiza ion accu acy, p io wo ks ha e gene alized and used o he
sou ces which u ilize desc ip i e obse a ions. The obse a ions om di e en senso s,
such as ision ea u es [
6
,
7
], poin clouds [
8
,
9
] om came as, and Lase Iden i ica ion De ec-
ion and Ranging (LIDAR) senso s, can be combined wi h odome y in o ma ion o co ec
o d i and o p o ide e icien localiza ion and acking a he same ime [
10
–
12
]. How-
e e , such ision-based auxilia y ea u es a e no always a ailable. Fo ins ance, isual ea-
u es ail in da k en i onmen s and LIDAR ea u es ail in hea ily
e lec i e en i onmen s.
In his pape , we e isi he undamen al ques ion: I only sma phone da a (including
he 5G NR ne wo k) and an en i onmen map is p o ided, is i possible o localize a
pedes ian o a long pe iod o ime? To achie e his, map suppo is no enough. Di e en
possibili ies a e discussed, and i is shown ha he special pe o mance o he u u e
mobile communica ion s anda d 5G NR plays a cen al ole as an enabling echnology.
The e o e, 5G posi ioning, which is an in as uc u e-based solu ion ha p o ides absolu e
posi ion in o ma ion, is conside ed. The 5G echnology is used in ou inal app oaches,
hus showing ha 5G can po en ially se e as a base equi emen . Dense NR ne wo ks a e
en isioned o ange om a ew me e s up o ens o me e s; o example, assuming se e al
access nodes pe oom in indoo en i onmen s [
13
]. Thus, 5G NR, as an in as uc u e-
based posi ioning solu ion, can be made a ailable bo h indoo s and ou doo s and is an
ideal way o na iga e in ci ies (e.g., be ween buildings, subways, and ain s a ions).
The emainde o he pape is s uc u ed as ollows: he ela ed wo k and challenges
a e desc ibed in he nex sec ion, sec ion h ee p esen s he s udy da ase , in sec ion ou ,
wo main posi ioning echniques which can wo k independen ly— ha is, only sma phone
senso s and a simula ion o In as uc u e-based implemen a ion (e.g., 5G)—a e discussed;
sec ion i e p esen s he au onomous posi ion es ima ion me hod, whe e pa icle il e ing
map-ma ching is discussed; in sec ion six, we p esen an ini ial usion concep o he
au onomous app oach and 5G—which can be ealized wi h and wi hou aking map-
ma ching in o conside a ion; and inally, sec ion se en p o ides ou conclusions and
di ec ions o u u e wo ks.
2. Rela ed Wo k and Challenges
O e ime, indoo posi ioning me hods ha e e ol ed o he cu en s age, which now
show an accu acy pe o mance up o he le el o one me e . Howe e , he posi ioning
echniques a e s ill mos ly limi ed o senso e o accumula ion, de ice placemen s o ini e
labeled da a. A wide ange o di e en senso echnologies ha e been used in o de o
o e come hese limi s du ing he las ew yea s, especially h ough sma phones, which
ha e almos all he in o ma ion one needs in one place. Wi hin he a ailable senso s in
sma phones, ine ial measu emen uni s (IMUs) a e in demand. This is la gely because
IMUs con ain senso s (such as accele ome e s and gy oscopes) and hey p o ide in o ma-
ion abou he o ien a ion and posi ion o any objec ha hey a e a ached o. Howe e ,
di e en applica ions and en i onmen al condi ions in luence he senso selec ion and
usion ype. Figu e 1shows a his o ical imeline o he sma phone-based posi ioning
echniques, beginning wi h accele ome e s.
The posi ioning mus be accu a e and eliable, e en when he use o he de ice is
a ied in e ms o placemen (e.g., handheld o in a packe ) o o ien a ion (e.g., po ai o
landscape mode). Au ho s in [
14
] ha e ied o combine di e en physics-based me hods o
o e come placemen challenges, such as he Ine ial Na iga ion Sys em (INS), Pedes ian
Dead Reckoning (PDR), o di e en il e ing app oaches such as he Kalman Fil e (KF) o
o ien a ion acking and he Pa icle Fil e (PF) o map-ma ching. Howe e , hey could
no a gue ha all can be done in eal ime applica ions. The e o e, open challenges and
Elec onics 2021,10, 397 3 o 17
ques ions can be de ined clea ly based on he imeline e iew and by aiming o a obus
and eal ime posi ioning solu ion.
Elec onics 2021, 10, x FOR PEER REVIEW 3 o 17
(KF) o o ien a ion acking and he Pa icle Fil e (PF) o map-ma ching. Howe e , hey
could no a gue ha all can be done in eal ime applica ions. The e o e, open challenges
and ques ions can be de ined clea ly based on he imeline e iew and by aiming o a
obus and eal ime posi ioning solu ion.
Figu e 1. The imeline o sma phone-based posi ioning echniques ob ained om ex ensi e li e a-
u e e iew [15–29].
A esea ch challenge ega ding pose acking is how o de e mine he ini ial pose o
he de ice. This is a e y impo an ques ion—i he ini ial posi ion calcula ion is possible,
hen i should be also possible o es ima e he new posi ion o he nex poin s. The pedes-
ian na iga ion should be compa able in use o GNSS-based na iga ion, in a way ha he
app oach wo ks wi h e e y sma phone in any ime. Howe e , in o de o p o ide high-
quali y posi ioning, absolu e me hods using Wi eless Local A ea Ne wo k (WLAN), Blue-
oo h, o Ul a-Wide Band (UWB) a e among hose indi idual solu ions which o en e-
qui e big in as uc u al changes, o example he addi ional moun o access poin s in
inge p in app oaches [18,20,30]. GPS ini ializa ion [19] has been accep ed as a s anda d
ini ializa ion me hod; howe e , i ob iously imposes a s ong limi on he s a ing poin .
Manual use inpu is he only emaining way o s a a na iga ion jou ney, pe haps by
using a QR code as ano he specialized solu ion [23]. The ini ial o ien a ion has ewe
p oblems, as pi ch and oll a e calculable based on he g a i y es ima ion om accele om-
e e measu es [30]. Calib a ed geomagne ic senso measu emen ollowing a local mag-
ne ic map can also help in his p ocess, bu his is highly elian on a labeled da ase [22].
The nex challenge ega ds pedes ian posi ioning. Many s udies on o ien a ion
acking in he con ex o indoo posi ioning ha e a emp ed o es ima e he heading o
he de ice, a he han he heading o he pedes ian. They, he e o e, gene ally assume
ha he posi ion whe e he mobile de ice is a ached is ixed and known, o hey neglec
he misalignmen be ween sma phone heading and he use ’s walking di ec ion, lea ing
i as an open challenge [31]. Howe e , he e ha e been some a emp s o calcula e he
heading independen o o ien a ion, ei he ollowing he e y i s a emp s based on ac-
cele a ion alues and PCA calcula ion [32], o simila app oaches such as equency do-
main analysis; howe e , such me hods mus be imp o ed o each he desi ed accu acy
[33].
The las wo challenges become e en mo e p oblema ic when he placemen o he
de ice a ies o e ime as a use pe o ms di e en asks, such as making a call, ca ying
he de ice in a bag, o walking on an escala o . The e a e also limi less human beha io s,
such as side walking, back walking, s ange o jump s epping, aking s ai s wo a a ime,
and many o he possibili ies. Resea che s ha e ecen ly ied o acqui ed senso da a
ac oss a limi ed numbe o human subjec s and sma phone placemen s. In his manne ,
he i s supe ised aining da ase o ine ial na iga ion was in oduced in 2017, using
one Suppo Vec o Machine (SVM) and eigh Suppo Vec o Reg ession (SVR) models
[27]. Realis ic and open benchma king da ase s o pedes ian indoo posi ioning using
Figu e 1.
The imeline o sma phone-based posi ioning echniques ob ained om ex ensi e li e a u e
e iew [15–29].
A esea ch challenge ega ding pose acking is how o de e mine he ini ial pose
o he de ice. This is a e y impo an ques ion—i he ini ial posi ion calcula ion is
possible, hen i should be also possible o es ima e he new posi ion o he nex poin s.
The pedes ian na iga ion should be compa able in use o GNSS-based na iga ion, in a
way ha he app oach wo ks wi h e e y sma phone in any ime. Howe e , in o de o
p o ide high-quali y posi ioning, absolu e me hods using Wi eless Local A ea Ne wo k
(WLAN), Blue oo h, o Ul a-Wide Band (UWB) a e among hose indi idual solu ions
which o en equi e big in as uc u al changes, o example he addi ional moun o access
poin s in inge p in app oaches [
18
,
20
,
30
]. GPS ini ializa ion [
19
] has been accep ed as
a s anda d ini ializa ion me hod; howe e , i ob iously imposes a s ong limi on he
s a ing poin . Manual use inpu is he only emaining way o s a a na iga ion jou ney,
pe haps by using a QR code as ano he specialized solu ion [
23
]. The ini ial o ien a ion
has ewe p oblems, as pi ch and oll a e calculable based on he g a i y es ima ion om
accele ome e measu es [
30
]. Calib a ed geomagne ic senso measu emen ollowing a
local magne ic map can also help in his p ocess, bu his is highly elian on a labeled
da ase [22].
The nex challenge ega ds pedes ian posi ioning. Many s udies on o ien a ion
acking in he con ex o indoo posi ioning ha e a emp ed o es ima e he heading o he
de ice, a he han he heading o he pedes ian. They, he e o e, gene ally assume ha
he posi ion whe e he mobile de ice is a ached is ixed and known, o hey neglec he
misalignmen be ween sma phone heading and he use ’s walking di ec ion, lea ing i as
an open challenge [
31
]. Howe e , he e ha e been some a emp s o calcula e he heading
independen o o ien a ion, ei he ollowing he e y i s a emp s based on accele a ion
alues and PCA calcula ion [
32
], o simila app oaches such as equency domain analysis;
howe e , such me hods mus be imp o ed o each he desi ed accu acy [33].
The las wo challenges become e en mo e p oblema ic when he placemen o he
de ice a ies o e ime as a use pe o ms di e en asks, such as making a call, ca ying
he de ice in a bag, o walking on an escala o . The e a e also limi less human beha io s,
such as side walking, back walking, s ange o jump s epping, aking s ai s wo a a ime,
and many o he possibili ies. Resea che s ha e ecen ly ied o acqui ed senso da a ac oss
a limi ed numbe o human subjec s and sma phone placemen s. In his manne , he
i s supe ised aining da ase o ine ial na iga ion was in oduced in 2017, using one
Suppo Vec o Machine (SVM) and eigh Suppo Vec o Reg ession (SVR) models [
27
].
Realis ic and open benchma king da ase s o pedes ian indoo posi ioning using mode n-
day sma phones oge he wi h g ound- u h has become a ecen esea ch ac i i y [
28
,
29
],
employing deep lea ning-based app oaches [
2
,
26
]. I has been ound ha elying on limi ed
labeled da a sou ces can lead o an end esul . These au ho s did no discuss how ealis ic
he da ase could be, due o he expe imen al si ua ion; howe e , he ques ion is: How can
Elec onics 2021,10, 397 4 o 17
a da ase be c ea ed, which well- ep esen s a use ac ing eely, no mally, and away om
he expe imen al si ua ion?
In o de o es ablish an unlimi ed posi ioning app oach capable o ope a ions e e y-
whe e and a any ime, as well as o ind a solu ion o he abo emen ioned challenges,
he po en ial o 5G NR echnology can be conside ed as a key equi emen . Owing o he
p e ious popula i y o sma phones o posi ioning es ima ion, 5G-based me hods could
be a pe ec ma ch o hem. Some esea che s ha e epo ed eaching an accu acy o one
me e o be e o 70% o he usage ime di e en posi ioning measu emen s, such as Time
o A i al (ToA) and Di ec ion o A i al (DoA), in combina ion wi h Kalman Fil e ing [
13
].
3. The S udy Da ase
This pape con ibu es a da ase o sma phone senso measu emen s and he esul s
o a 5G-based simula ion. I also includes he equi ed map in o ma ion and in e p e ed
Py hon sc ip s. We used a handheld Samsung S10 5G sma phone (Samsung, Suwon,
Gyeonggi-do, Ko ea) [
34
], o eco d accele a ion, magne ic ield, ba ome e and o ien a ion
senso alues, as well as angula eloci ies by he gy oscope ia an applica ion named
“senso log” [
35
]. The simula ion esul , discussed in Sec ion 4.2.2, is p esen ed along wi h
he building plan (in WKT o ma ). The 5G simula o —in combina ion wi h manual ideo
con ols—was used o es ima e a good g ound u h ajec o y.
The eade sc ip ead he senso log ile and ex ac ed he da a wi h desi ed equencies.
We solely used IMU da a a 100 Hz o all o he ollowing app oaches. Fo he au onomous
app oaches, he ini ial poin was manually se o be 566578.7 and 5932830.1 me e s o he
ini ial posi ion and 200 deg ees o ini ial heading. The da ase is a ailable online a he
ollowing link (h ps://gi hub.com/Hossein-Shoush a i/Elec onicsDa a.gi ) (accessed
on 15 Decembe 2020). I should be no ed ha he heigh componen was omi ed in
he implemen a ions.
4. Selec ion o Posi ioning Techniques
In he ollowing sec ion, wo gene al echniques which p o ide posi ion in o ma ion
sou ces a e discussed. The i s one only elies on senso in o ma ion, while he o he jus
uses in as uc u e measu emen s.
4.1. Pedes ian Dead Reckoning
The accele ome e –gy oscope combina ion is o pa icula in e es o pedes ian
dead eckoning. These MEMS ine ial senso s a e o en combined as h ee-axis senso s
in sma phones, such as he MPU-9250 (TDK In enSense, Tokyo, Japan) [
36
]. When he
sma phone is in es ing posi ion, he accele a ion senso egis e s accele a ion due o
g a i y on i s h ee axes (i.e., 9.81 m/s
2
). This allows o il calcula ion o o a ion in
he sma phone–senso coo dina e ames. S ep de ec ion is also based on he egis e ed
accele a ion. The h ee-axis gy oscope egis e s angula eloci ies. Wi h app op ia e ime
measu emen s, he ela i e angles o o a ion in space can be de e mined by in eg a ion.
The ine ial senso s a e subjec o colo ed noise, which is e en mo e appa en in MEMS.
This can be seen in he angle o o a ion, due o d i . The empe a u e dependence also has
a g ea in luence. These e ec s p oduce an inc ease o posi ioning e o along wi h ime o
use in PDR. The e o e, he usion o gy oscope da a (d i in angle) and accele a ion da a
(high noise in angle) helps o educe unce ain ies o wo o h ee o ien a ion pa ame e s.
Fo ins ance, Gy oscope and Accele a ion senso usion has been made possible by means
o he well-known Madgwick algo i hm [37].
The basis o PDR is he combina ion o a pedome e , known o es ima ed s ide leng h,
and o ien a ion. The e a e nume ous implemen a ion examples o he ealiza ion o he
PDR, in which he posi ioning—bo h in e ms o s ep de ec ion and heading es ima ion—
mus be accu a e and eliable. Once a s ep is de ec ed, he sys em needs o es ima e he
s ide leng h. The s ide leng h o an indi idual can a y signi ican ly o e ime, due o
speed, e ain, and o he en i onmen al cons ain s [
25
]. The same p oblem applies o
Elec onics 2021,10, 397 5 o 17
he exac heading di ec ion o each s ep, despi e he ac ha he phone can be loca ed
anywhe e on he body. Using he benchma king me hods om [
21
] and [
25
], wo di e en
PDR ealiza ions we e ep oduced (see Figu es 1and 2). These igu es show he esul s o
a eal ajec o y da ase in a building o Ha enCi y Uni e si y.
Elec onics 2021, 10, x FOR PEER REVIEW 5 o 17
The basis o PDR is he combina ion o a pedome e , known o es ima ed s ide
leng h, and o ien a ion. The e a e nume ous implemen a ion examples o he ealiza ion
o he PDR, in which he posi ioning—bo h in e ms o s ep de ec ion and heading es i-
ma ion—mus be accu a e and eliable. Once a s ep is de ec ed, he sys em needs o es i-
ma e he s ide leng h. The s ide leng h o an indi idual can a y signi ican ly o e ime,
due o speed, e ain, and o he en i onmen al cons ain s [25]. The same p oblem applies
o he exac heading di ec ion o each s ep, despi e he ac ha he phone can be loca ed
anywhe e on he body. Using he benchma king me hods om [21] and [25], wo di e en
PDR ealiza ions we e ep oduced (see Figu es 1 and 2). These igu es show he esul s o
a eal ajec o y da ase in a building o Ha enCi y Uni e si y.
(a) (b)
Figu e 2. Realiza ion o PDR elemen s ep oducing a ailable benchma ks, lis ed as: (a) S ep head-
ing calcula ion using Madgwick usion o IMU and le eled Gy oscope conside ing ZUPT; and (b)
K-based s ide leng h es ima ion.
Figu e 2 shows he use o Madgwick usion o IMU da a o azimu h, implemen ed
using a Eule ee qua e nion-based me hod and he in eg a ion o gy oscope da a
h ough Ze oVeloci yUPdaTe (ZUPT: O se o o a ion a e o Ze o a s ands ill) a he
beginning. Based on bo h o hese examples, a di e ence o mo e han 20° is isible; how-
e e , hese esul s a e based on he same da a. They make i clea ha he selec ion o
o ien a ion es ima ion me hod has a signi ican in luence on posi ion es ima ion. How-
e e , one disad an age o Eule based sys ems is he singula i y limi a ion.
S ide leng h es ima ion based on accele ome e da a wo ks dynamically and he e
is no need o manual inpu , in compa ison wi h he use o a ixed s ide leng h. Based on
he expe imen s, he k-based me hod gene ally wo ks be e o di e en use s wi hou
changing he se o pa ame e s. Howe e , a a ia ion o 20 cm in s ide leng h be ween
wo indi idual’s s ides in a building is un ealis ic. Mo eo e , he co ec ion o a ixed
s ide leng h can be done mo e easily and quickly. The eliable de e mina ion o s ide
leng h equi es a ealis ic da ase and lea ning app oaches. The e o e, i can be s ill be
seen as an unsol ed challenge. In [21], he au ho s concluded ha a ixed p e-es ima ed
s ide leng h causes he same de ia ions o an indi idual as he k-based me hods.
The nex ques ion ega ds he pedome e . The au ho s in [38] used a que y o wo
successi e condi ions o he pedome e . Fo his,  wi h 9.81 m/s
2
had o be sub ac ed
om he le elled accele ome e da a and wo h esholds o he accele a ion alue and
one o he ime we e used. O he simila h eshold-based pedome e s ha e been p e-
sen ed in he li e a u e (see, e.g., [25]). Howe e , he obus ness o he s ep de ec o me h-
ods emains ques ionable. The a o emen ioned e e ence assumed ha people gene a e a
pe iodic accele a ion signal only when walking and could no dis inguish be ween a eal
s ep and ac ions ha gene a e e y simila accele a ion signal pa e ns, such as shaking
he sma phone [30]. This may pose conside able p oblems, conside ing human daily be-
ha io s such as walking on s ai s, s anding, si ing, sending ex s, making calls, and yp-
ing. We seek o esol e his challenge by conside ing bo h ho izon al and e ical displace-
men in he usion concep in oduced in Sec ion 5.
Figu e 2.
Realiza ion o PDR elemen s ep oducing a ailable benchma ks, lis ed as: (
a
) S ep heading
calcula ion using Madgwick usion o IMU and le eled Gy oscope conside ing ZUPT; and (
b
) K-based
s ide leng h es ima ion.
Figu e 2shows he use o Madgwick usion o IMU da a o azimu h, implemen ed
using a Eule ee qua e nion-based me hod and he in eg a ion o gy oscope da a h ough
Ze oVeloci yUPdaTe (ZUPT: O se o o a ion a e o Ze o a s ands ill) a he beginning.
Based on bo h o hese examples, a di e ence o mo e han 20
◦
is isible; howe e , hese
esul s a e based on he same da a. They make i clea ha he selec ion o o ien a ion
es ima ion me hod has a signi ican in luence on posi ion es ima ion. Howe e , one
disad an age o Eule based sys ems is he singula i y limi a ion.
S ide leng h es ima ion based on accele ome e da a wo ks dynamically and he e is
no need o manual inpu , in compa ison wi h he use o a ixed s ide leng h. Based on
he expe imen s, he k-based me hod gene ally wo ks be e o di e en use s wi hou
changing he se o pa ame e s. Howe e , a a ia ion o 20 cm in s ide leng h be ween wo
indi idual’s s ides in a building is un ealis ic. Mo eo e , he co ec ion o a ixed s ide
leng h can be done mo e easily and quickly. The eliable de e mina ion o s ide leng h
equi es a ealis ic da ase and lea ning app oaches. The e o e, i can be s ill be seen as an
unsol ed challenge. In [
21
], he au ho s concluded ha a ixed p e-es ima ed s ide leng h
causes he same de ia ions o an indi idual as he k-based me hods.
The nex ques ion ega ds he pedome e . The au ho s in [
38
] used a que y o wo
successi e condi ions o he pedome e . Fo his,
g
wi h 9.81 m/s
2
had o be sub ac ed
om he le elled accele ome e da a and wo h esholds o he accele a ion alue and one
o he ime we e used. O he simila h eshold-based pedome e s ha e been p esen ed
in he li e a u e (see, e.g., [
25
]). Howe e , he obus ness o he s ep de ec o me hods
emains ques ionable. The a o emen ioned e e ence assumed ha people gene a e a
pe iodic accele a ion signal only when walking and could no dis inguish be ween a eal
s ep and ac ions ha gene a e e y simila accele a ion signal pa e ns, such as shaking
he sma phone [
30
]. This may pose conside able p oblems, conside ing human daily
beha io s such as walking on s ai s, s anding, si ing, sending ex s, making calls, and
yping. We seek o esol e his challenge by conside ing bo h ho izon al and e ical
displacemen in he usion concep in oduced in Sec ion 5.
Finally, PDR is hen pe o med o each de ec ed s ep. In Equa ion (1), he coo dina es
o he cu en posi ion
Xi
a e calcula ed, depending on he p e ious posi ion
Xi−1
, summing
wi h a mul iplica ion o he scala ansla ion o T (s ide leng h), and heading ma ix R.
Xi=Xi−1+T×R (1)
The wo PDR ealiza ions led o di e en ajec o ies (see Figu e 3). The ajec o ies
we e bo h subjec o signi ican o ien a ion d i and scale e o s caused by inco ec s ide

Elec onics 2021,10, 397 6 o 17
leng h es ima ion. In o de o e alua e and ack he app oaches quali y on-boa d, a
cumula i e dis ibu ion unc ion (CDF) plo was placed nex o each o he es ima ed
ajec o ies. The CDFs we e calcula ed by i ing a no mal dis ibu ion o dis ances be ween
he g ound u h s ep coo dina es and he es ima ed one, i.e., e o s. In o he wo ds, he
e o is de ined as he nominal alue minus he es ima ed alue. I he e was a con as
be ween he pedome e and he ac ual numbe o he s eps, a simple in e pola ion educed
o added a ew s ep posi ions. The e alua ion o he PDR me hods shows ha addi ional
in o ma ion is needed o map conside a ion and mo e accu a e o ien a ion and s ide
leng h es ima ion. The CDF p esen s he de ia ion quali a i ely and quan i i ely, o
ins ance, i can be seen ha 90% o he calcula ed poin s in PDR 2 had an accu acy which
was be e han 15 m.
Elec onics 2021, 10, x FOR PEER REVIEW 6 o 17
Finally, PDR is hen pe o med o each de ec ed s ep. In Equa ion (1), he coo di-
na es o he cu en posi ion X

a e calcula ed, depending on he p e ious posi ion X

,
summing wi h a mul iplica ion o he scala ansla ion o T (s ide leng h), and heading
ma ix R.
X

=X

+ T × R
(1
)
The wo PDR ealiza ions led o di e en ajec o ies (see Figu e 3). The ajec o ies
we e bo h subjec o signi ican o ien a ion d i and scale e o s caused by inco ec s ide
leng h es ima ion. In o de o e alua e and ack he app oaches quali y on-boa d, a cu-
mula i e dis ibu ion unc ion (CDF) plo was placed nex o each o he es ima ed ajec-
o ies. The CDFs we e calcula ed by i ing a no mal dis ibu ion o dis ances be ween he
g ound u h s ep coo dina es and he es ima ed one, i.e., e o s. In o he wo ds, he e o
is de ined as he nominal alue minus he es ima ed alue. I he e was a con as be ween
he pedome e and he ac ual numbe o he s eps, a simple in e pola ion educed o
added a ew s ep posi ions. The e alua ion o he PDR me hods shows ha addi ional
in o ma ion is needed o map conside a ion and mo e accu a e o ien a ion and s ide
leng h es ima ion. The CDF p esen s he de ia ion quali a i ely and quan i i ely, o in-
s ance, i can be seen ha 90% o he calcula ed poin s in PDR 2 had an accu acy which
was be e han 15 m.
(a) (b)
Figu e 3. Th ee di e en PDR ealiza ions, named PDR 1 ( he k-based s ide leng h and Madg-
wick-based heading), PDR 2 ( ixed s ide leng h and le eled gy oscope heading), and PDR mix
( he k-based s ide leng h and le eled gy oscope heading): (a) T ajec o ies shown on he map; and
(b) E o s. CDF p obabili y o he me hods.
4.2. 5G-Based Posi ioning
The deploymen o cellula sys ems, om he Fi s Gene a ion (1G) o he cu en
(Fi h Gene a ion, 5G, o New Radio, NR) s age, has a long his o y. The Thi d Gene a ion
Pa ne ship P ojec (3GPP) eleases ha e a emp ed o answe he disco e ed equi e-
men s. The 3GPP uni es se en s anda d elecommunica ions de elopmen o ganiza ions.
Thei membe s p oduce epo s and speci ica ions ha de ine 3GPP echnologies, includ-
ing adio access, co e ne wo k, and se ice capabili ies [39]. A e a while, he demand on
cellula ne wo ks came no only om mobile phone p o ide s, bu also wide indus y.
Fu he mo e, 4G sys ems ha e inco po a ed signi ican upda es add essing ma ke s di -
e en han adi ional mobile phone businesses [40]; o ins ance, he de ice- o-de ice
(D2D) pa adigm allows de ices o di ec ly communica e wi h each o he using a local
wi eless channel. D2D echnology laid he ounda ions o he ehicle- o-e e y hing (V2X)
echnology in oduced in 3GPP Release 14 [41]. Howe e , he 5G ne wo k is he i s cel-
lula ne wo k ha was no designed wi h a sole ocus on mobile phones.
Towa d he la e pa o he 2010s, he las -gene a ion ne wo ks began o each hei
limi s. The easons o his we e mani old, including a emendous g ow h in sma phone
pene a ion and an inc ease in bandwid h-hung y applica ions, as well as he la ge num-
Figu e 3.
Th ee di e en PDR ealiza ions, named PDR 1 ( he k-based s ide leng h and Madgwick-
based heading), PDR 2 ( ixed s ide leng h and le eled gy oscope heading), and PDR mix ( he k-based
s ide leng h and le eled gy oscope heading): (
a
) T ajec o ies shown on he map; and (
b
) E o s.
CDF p obabili y o he me hods.
4.2. 5G-Based Posi ioning
The deploymen o cellula sys ems, om he Fi s Gene a ion (1G) o he cu en
(Fi h Gene a ion, 5G, o New Radio, NR) s age, has a long his o y. The Thi d Gene a ion
Pa ne ship P ojec (3GPP) eleases ha e a emp ed o answe he disco e ed equi e-
men s. The 3GPP uni es se en s anda d elecommunica ions de elopmen o ganiza ions.
Thei membe s p oduce epo s and speci ica ions ha de ine 3GPP echnologies, including
adio access, co e ne wo k, and se ice capabili ies [
39
]. A e a while, he demand on cellu-
la ne wo ks came no only om mobile phone p o ide s, bu also wide indus y. Fu he -
mo e, 4G sys ems ha e inco po a ed signi ican upda es add essing ma ke s di e en han
adi ional mobile phone businesses [
40
]; o ins ance, he de ice- o-de ice (D2D) pa adigm
allows de ices o di ec ly communica e wi h each o he using a local wi eless channel.
D2D echnology laid he ounda ions o he ehicle- o-e e y hing (V2X) echnology in o-
duced in 3GPP Release 14 [
41
]. Howe e , he 5G ne wo k is he i s cellula ne wo k ha
was no designed wi h a sole ocus on mobile phones.
Towa d he la e pa o he 2010s, he las -gene a ion ne wo ks began o each hei
limi s. The easons o his we e mani old, including a emendous g ow h in sma phone
pene a ion and an inc ease in bandwid h-hung y applica ions, as well as he la ge numbe
o connec ed de ices. All o hese new equi emen s we e ga he ed and he 3GPP ini ia ed
he de ini ion o he 5G echnology. The 5G NR equi emen s ha e been s uc u ed unde
h ee main ca ego ies [40]:
•
Enhanced mobile b oadband (eMBB), he aim o which is o p o ide wi eless connec-
i i y wi h e y high bandwid h.
•
Massi e machine ype communica ions (mMTC), p o iding connec i i y o a la ge
numbe o IoT de ices, such as sma me e s, wa ches, o wea ables. mMTC equi es
e y la ge cell and ne wo k capaci ies.
•
Ul a- eliable low la ency communica ions (URLLC), a ge ed a p o iding low la ency,
obus communica ion links o V2X, emo e su ge y, and o he
sa e y-c i ical applica ions.
Elec onics 2021,10, 397 7 o 17
The 5G ne wo k also includes o he de ices and use-cases, e e ed o as indus y
e icals. Ano he signi ican di e ence, wi h espec o p e ious cellula ne wo ks, is he
use o highe equencies in he millime e -wa e spec um, s a ing a 24 GHz. Impo an
ea u es ha e also come om 5G, such as massi e mul iple-inpu and mul iple-ou pu
(MIMO), beam o ming, cloud compu ing, and ne wo k i ualiza ion. All o hese ea u es,
in oduced in Releases 16–17 [
42
,
43
], help o inc ease he scalabili y and modula i y o he
ne wo k and aid in eaching peak da a a es o 20 Gbps wi h e y high use densi y [40].
4.2.1. Algo i hms and Technologies
We ha e classi ied he 5G-based posi ioning app oaches based on hei geome ic
bases, analyzing p oximi y-, dis ance-, angle-, and ime di e ence-based posi ioning ech-
nologies. In his classi ica ion, he e is no conside a ion o he da a d i en app oaches such
as he well-known Finge p in ing me hod.
P oximi y is he simples way o de e mine he loca ion o an objec . I is a me hod
which has been long used in cellula ne wo ks; o example, in cell ID (CID), Wi-Fi, and
Blue oo h posi ioning sys ems. P oximi y is based on he knowledge ha he objec o
be loca ed is nea a e e ence objec whose posi ion is known. Hence, he accu acy o
p oximi y as a posi ioning me hod basically depends on he ange o he signal used.
Fo ins ance, dense 5G ne wo ks, which a e en isioned o ange om a ew me e s up o
ens o me e s, ha e shown accep able accu acy pe o mance when using p oximi y [
13
].
The poin ep esen ing he posi ion o he mobile e minal can be ob ained by geome ic
calcula ions, o which he cen oid me hod is he mos common [
44
]. The weigh o each
An enna Node (AN) is p opo ional o i s Recei ed Signal S eng h (RSS) alue; as a esul ,
he AN wi h he highes RSS pulls he cen oid mos s ongly o i s own posi ion [
45
].
The same weigh ing analysis can be pe o med using ime measu emen s. Howe e , powe
measu emen s a e no as accu a e as iming measu emen s in he posi ioning echnologies
used in legacy cellula ne wo ks (up o LTE). This p oblem has been sol ed in 5G NR [
40
].
T iangula ion is a echnique which de e mines he posi ion o an objec by measu ing
he angles o he objec om known poin s. I elies on Angle o A i al (AoA) mea-
su emen s, in which he incoming angle o he ecei ed signal is known, such ha he
ecei e can es ima e he di ec ion o he ansmi e . A leas wo angle measu emen s om
wo di e en known poin s a e su icien o 2D localiza ion, by applying igonome ic
iden i ica ion. Al hough angle-based posi ioning echnologies a e no new, due o he
beam o ming ea u e, i is wi h 5G NR ha hei ull po en ial can be eached. DL-AoD
and UL-AoA a e wo 5G angula posi ioning echnologies ha a e always linked o a base
s a ion beam by 3GPP speci ica ion (38.305) [46].
T ila e a ion is he name gi en o posi ioning algo i hms e e ing o a posi ion de e -
mined om dis ance measu emen s. These a e also called ange measu emen echniques.
In T ila e a ion, he “ i” s ands o he (a leas ) h ee ixed poin s ha a e necessa y o
de e mine a 2D posi ion [
47
]. In [
44
], he use o he leas squa e me hod o minimize he
localiza ion e o was discussed, whe e he absolu e dis ance e o be ween he ansmi e
and ecei e should ideally be ze o. Posi ioning based on ila e a ion can be pe o med
using se e al di e en posi ioning measu emen s, such as Time o A i al (ToA), RSS,
and so on. Enhanced Cell ID is a me hod based on a p oximi y algo i hm o LTE as an
enhancemen o a iming ad ance p ocedu e. The aim is o educe he a ea o unce ain y
o he posi ioning [
48
–
50
]. Al e na i ely, i he ansmi ed powe is known, he RSS can
be used o es ima e he dis ance he signal has a elled, by using pa icula p opaga ion
models ha es ima e he a enua ion o he signal in ela ion o he a elled dis ance.
This is due o he ac ha he powe o he ansmi ed signal dec eases wi h he a elled
dis ance [
44
]. In 5G NR, he Round-T ip Time (RTT) o a neighbo cell has been used o
de ine a mul i-RTT me hod. The NR E-CID is also a e-de ini ion o ECID; his ime, o 5G
ne wo ks [40].
Mul ila e a ion e e s o posi ioning algo i hms based on he di e ence in dis ances
om he objec o wo e e ence poin s o known loca ion. In pa icula , hey ely on Time
Elec onics 2021,10, 397 8 o 17
Di e ence o A i al (TDoA) measu emen s. In gene al, a leas wo measu emen s ( om
h ee ansmi e s) a e needed o ob ain a 2D posi ion, while a leas h ee measu emen s
a e equi ed o calcula e a 3D posi ion. In 5G NR, DL-TDOA and UL-TDOA a e based on
he same p inciple, whe e he ime di e ence measu emen is ca ied ou by he ne wo k
o base s a ions [40]. A simila me hod is he 4G OTDOA.
4.2.2. 5G Simula ion
Rega ding 5G, posi ioning me hods can gene a e coo dina es wi h a p e-de ined
esolu ion, accu acy, and la ency. Pe o mance a ies in 5G-based echnologies and 3GPP
eleases. Fo ins ance, in Release 17, he aim was o gene a e a ho izon al posi ioning
p ecision o a leas 1 me e o highe o indus ial use-cases; o example, an accu acy
o 0.2 me e is desi able in some indoo use-cases. A posi ioning la ency o less han 100
milliseconds is also desi ed [
43
]. Al hough a eal 5G Campus Ne wo k is going o be
buil in he amewo k o he Le el 5 Indoo Na iga ion (L5IN) p ojec unning a he
Ha enCi y Uni e si y, an indoo cellula -based posi ioning simula ion was designed o
e alua e di e en an enna placemen s, ne wo k esolu ions, quali ies, e c.
We ca ied ou a simula ion based on he poin s discussed abo e ela ing o 5G
posi ioning me hods and conside ing he 5G eleases. Howe e , simula ion poin s we e
de i ed o simplici y in he ollowing expe imen s, mainly by using he loo plans and
e e ence poin s wi h andom e o s in a ange o 5 m.
5. Au onomous Posi ion Es ima ion
In he ollowing sec ion, he mos p omising app oaches o au onomous pedes ian
na iga ion a e p esen ed and discussed. Fo be e unde s anding o he esul s, he
echnical de ails a e also explained.
5.1. PDR Pa icle Fil e
The au onomous posi ion es ima ion was ini ialized by he PDR 1. PDR-based ap-
p oaches equi e co ec ion o pedes ian na iga ion, in he case o longe -las ing posi ion
es ima ions. The e o e, he a ailable componen s o na iga ion we e conside ed; he loo
plan and he ou ing g aph. These we e in elligen ly combined wi h he PDR using PF
algo i hms, which has been used p e iously in [38].
In his a ian , he PDR ep esen s he P opaga ion p ocess, and he pedome e
con ols he compu a ion a e. Du ing he es ima ion s ep, he loo plan and he ou ing
g aph we e used as co ec ion pa ame e s. Figu e 4g aphically ep esen s he p ocessing
o he a ailable da a o de e mine co ec ions. In Figu e 4a, he loo plan is used wi h
a Boolean logic p inciple: I a pa icle is behind a wall, change i s weigh o ze o ( ed).
The o he pa icles change hei weigh s, based on hei o ien a ion wi h espec o he wall
posi ion (g ey o black pa icles). As Figu e 4b shows, he weigh ing p inciple was only
based on he ou ing edges. The o hogonal o se has been used as he weigh de ined on
he no mal dis ibu ion in Equa ion (4).
an ai=yi−ym
xi−xm. (2)
wi=exph−0.5·(αi− wall)·R−1
·(αi− wall)i(3)
wi=exph−0.5·do hogonal
i·R−1
d·do hogonal
ii (4)
Equa ion (2) shows he calcula ion o he cou se be ween ac ual pa icle i and weigh ed
mean alue o las es ima ion s ep. This angle was used o compa e he o ien a ion o walls
a ound his pa icle. The g ey-scaled colo o pa icles in Figu e 4a shows he weigh s based
on hese compa isons o nea es wall included in a p obabili y densi y unc ion which
ep esen s a no mal dis ibu ion Equa ion (3). Equa ion (4) shows he e he p obabili y
densi y unc ion, which ep esen s a no mal dis ibu ion. A longe dis ance o ou ing
Elec onics 2021,10, 397 9 o 17
edge p oduced a lowe weigh o his pa icle. The weigh ed mean alue ou o all pa icle
mo ed mo e o ou ing edge, based on he idea, ha his was he ypical a ea o walking.
A he end, hese co ec ions gene a e a ajec o y which is posi ioned mo e nea ou ing
edges, which a e ypically o ien ed in he mean axis o co ido s.
Elec onics 2021, 10, x FOR PEER REVIEW 9 o 17
based on he ou ing edges. The o hogonal o se has been used as he weigh de ined on
he no mal dis ibu ion in Equa ion (4).
(a) (b)
Figu e 4. P inciples o suppo : (a) loo plan— ed pa icles a e behind wall and a e weigh ed
ze o; and (b) ou ing g aph— he o hogonal o se o a pa icle o he nea es ou ing edge is
used o calcula e i s weigh [21].
ana

=y

−y

x

−x

.
(2)
w

=exp [−0.5∙(α

−

)∙ R


∙(α

−

)]
(3)
w

=exp [−0.5 ∙ d

 ∙ R


∙d

]
(4)
Equa ion (2) shows he calcula ion o he cou se be ween ac ual pa icle i and
weigh ed mean alue o las es ima ion s ep. This angle was used o compa e he o ien a-
ion o walls a ound his pa icle. The g ey-scaled colo o pa icles in Figu e 4a shows he
weigh s based on hese compa isons o nea es wall included in a p obabili y densi y unc-
ion which ep esen s a no mal dis ibu ion Equa ion (3). Equa ion (4) shows he e he
p obabili y densi y unc ion, which ep esen s a no mal dis ibu ion. A longe dis ance o
ou ing edge p oduced a lowe weigh o his pa icle. The weigh ed mean alue ou o
all pa icle mo ed mo e o ou ing edge, based on he idea, ha his was he ypical a ea
o walking. A he end, hese co ec ions gene a e a ajec o y which is posi ioned mo e
nea ou ing edges, which a e ypically o ien ed in he mean axis o co ido s.
Using he app oach o map suppo on he es da a yielded a signi ican ly di e en
ajec o y, compa ed o he PDR ajec o y. Howe e , he app oach is al eady clea ly less
e ec i e. Wi hou u he co ec ion using he ou ing g aph, he il e can change he
oom a e a ce ain ime, depending on he noise pa ame e s.
5.2. Topological App oach
In he opological app oach i s p esen ed by [38], he PF is eplaced by a s a e de-
ec ion app oach. A posi ion es ima ion wo ks only based on he ou ing g aph. The idea
he e is ha he change o p io i y o o ien a ion es ima ion makes he PDR mo e obus
o longe du a ions o na iga ion. An addi ional ad an age compa ed o il e ap-
p oaches is he clea s a e de ec ion wi hou he in luence o andomly dis ibu ed pa am-
e e epea abili y. A u he ad an age is he equi emen o less compu ing powe , com-
pa ed o a PF.
The opological app oach wo ks wi h ou s a e que ies. These di e en s a es a e
necessa y o handle he di e en e o si ua ions based on PDR in luences by s ep leng h
e o and d i e o o calcula ed o a ion angle. The basis is a compa ison o he cu en ly
calcula ed di ec ion using gy oscope da a and he o ien a ion o su ounding ou ing
edges. A selec ion o he app op ia e ou ing edge is applied. This p ocess is epea ed o
each s ep de ec ion. Thus, he PDR uns along he mos p obable ou ing edges. One dis-
ad an age is ha i canno assume posi ions eely in space.
Figu e 4.
P inciples o suppo : (
a
) loo plan— ed pa icles a e behind wall and a e weigh ed ze o;
and (
b
) ou ing g aph— he o hogonal o se o a pa icle o he nea es ou ing edge is used o
calcula e i s weigh [21].
Using he app oach o map suppo on he es da a yielded a signi ican ly di e en
ajec o y, compa ed o he PDR ajec o y. Howe e , he app oach is al eady clea ly less
e ec i e. Wi hou u he co ec ion using he ou ing g aph, he il e can change he oom
a e a ce ain ime, depending on he noise pa ame e s.
5.2. Topological App oach
In he opological app oach i s p esen ed by [
38
], he PF is eplaced by a s a e de ec-
ion app oach. A posi ion es ima ion wo ks only based on he ou ing g aph.
The idea he e is ha he change o p io i y o o ien a ion es ima ion makes he PDR
mo e obus o longe du a ions o na iga ion. An addi ional ad an age compa ed o
il e app oaches is he clea s a e de ec ion wi hou he in luence o andomly dis ibu ed
pa ame e epea abili y. A u he ad an age is he equi emen o less compu ing powe ,
compa ed o a PF.
The opological app oach wo ks wi h ou s a e que ies. These di e en s a es a e
necessa y o handle he di e en e o si ua ions based on PDR in luences by s ep leng h
e o and d i e o o calcula ed o a ion angle. The basis is a compa ison o he cu en ly
calcula ed di ec ion using gy oscope da a and he o ien a ion o su ounding ou ing edges.
A selec ion o he app op ia e ou ing edge is applied. This p ocess is epea ed o each s ep
de ec ion. Thus, he PDR uns along he mos p obable ou ing edges. One disad an age is
ha i canno assume posi ions eely in space.
Fo he es da ase was used o his app oach, see Figu e 5. This app oach wo ks
well i he ajec o y ollows a clea and simple ou ing g aph. This was no he case he e
and he algo i hm ailed a e abou 60% o he un (Figu e 5). The ajec o y could no
ma ch he ou ing g aph and he calcula e i s pa h. Unce ain ies in posi ioning, he e o e,
inc ease s ongly i he a e sed pa h is no well- ep esen ed by he ou ing edges, o i i
de ia es s ongly.
Elec onics 2021,10, 397 16 o 17
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