Method and system for signal-based localization

摘要

In an embodiment of the present invention, a GraphSLAM-like algorithm for signal strength SLAM is presented. This algorithm as an embodiment of the present invention shares many of the benefits of Gaussian processes yet is viable for a broader range of environments since it makes no signature uniqueness assumptions. It is also more tractable to larger map sizes, requiring O(N2) operations per iteration. In the present disclosure, an algorithm according to an embodiment of the present invention is compared to a laser-SLAM ground truth, showing that it produces excellent results in practice.

主权项

1. A computer-implemented method for localization using signal-strength measurements, comprising:
obtaining a set of signal-strength measurements using a wireless interface; performing simultaneous localization and mapping computations on the set of signal-strength measurements using at least one processor configured by executable software stored in memory by:
estimating locations in which each of the signal-strength measurements in the set of signal-strength measurements was obtained;interpolating a signal-strength estimate in each of the estimated locations based upon the signal-strength measurements from the set of signal-strength measurements obtained at each of the estimated locations; andupdating the estimated locations in which each of the signal-strength measurements in the set of signal-strength measurements was obtained based upon at least an error between the estimated signal-strength at the estimated locations and the signal-strength measurements; and computing a trajectory from the simultaneous localization and mapping computations using at least one processor configured by executable software stored in memory.