Determining and aligning a position of a device and a position of a wireless access point (AP)

摘要

Examples describe systems and methods for iteratively determining a signal strength map for a wireless access point (AP) aligned to position coordinates, positions of a device, and positions of the wireless APs. An example method includes selecting traces and a wireless AP among the traces for which data is indicative of a threshold amount of information to estimate a position of the device and a position of the wireless AP, selecting first characteristics from the traces to remain constant and second characteristics to be variable, and selecting a localization constraint that provides boundaries on the position of the device and the position of the wireless AP. The method also includes performing a simultaneous localization and mapping (SLAM) optimization of the position of the device and the position of the wireless AP based on the localization constraint with the first characteristics held constant and the second characteristics allowed to vary.

主权项

1. A method comprising:
receiving traces of data, wherein respective data is collected by sensors of a device over a plurality of locations and over time periods, and wherein a respective trace of data includes received signal strength indication (RSSI) data for a plurality of wireless access points (AP); selecting, by one or more processors, a set of traces and a given wireless AP among the traces of data for which data is indicative of a threshold amount of information to estimate a position of the device over the time periods and a position of the given wireless AP; selecting first characteristics from the set of traces to remain constant and second characteristics from the set of traces to be variable; selecting a localization constraint that provides one or more boundaries on the position of the device over the time periods and the position of the given wireless AP; performing, by the one or more processors, a simultaneous localization and mapping (SLAM) optimization of the position of the device and the position of the given wireless AP, over a plurality of iterations, based on the localization constraint with the first characteristics held constant and the second characteristics allowed to vary; for the plurality of iterations, (i) selecting the set of traces based on the traces of data having an amount of GPS positioning data being less than a given amount of GPS positioning data in a previously selected set of traces, and (ii) performing the SLAM optimization based on the selected set of traces; and based on the iterative optimizations, providing an estimate of the position of the device over the time periods and an estimate of the position of the given wireless AP.