Indoor Positioning in Wireless Local Area Networks with Online Path-Loss Parameter Estimation

Figure 3

Slow fading effect evaluated by means of computer experiments based on the testbed of Figure 2. JSIR and RBPF-KF are applied with 𝜎²_ℎ=9, 𝜎²_𝑦=5, and 𝑁_𝑝=1000 particles; we show (a) the positioning RMSE and (b) estimation error Δℎ_𝑘 of the parameters averaged over all APs.

(a) Positioning RMSE

(b) Error of the parameter