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WiFi-RTT-SLAM: Simultaneously estimating the positions of mobile devices and WiFi-RTT access points

Gentner, Christian and Avram, Diana (2021) WiFi-RTT-SLAM: Simultaneously estimating the positions of mobile devices and WiFi-RTT access points. ION GNSS+ 2021, St. Louis, USA.

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Official URL: https://doi.org/10.33012/2021.18081


This article aims to explore and extend the research on navigation in indoor environments using smartphones. Using WiFi for indoor positioning is a common approach because WiFi infrastructure is widely deployed. Recently the WiFi IEEE 802.11-2016 standard was released, which includes a fine time measurement (FTM) protocol, more commonly known as WiFi-round-trip-time (WiFi-RTT) protocol, for WiFi ranging. WiFi-RTT enables ranging measurements between a device, i.e. a smartphone, and fixed WiFi-RTT access points (WiFi-RTT-APs). Because the location of WiFi-RTT-APs are typically unknown, this paper presents a novel algorithm which estimates the position of a smartphone together with the location of the WiFi-RTT-APs using a simultaneous localization and mapping (SLAM) method. The derived algorithm is evaluated based on measurements in an indoor environment. We show, that the smartphone and the WiFi-RTT-APs can be localized within meter accuracy, having no prior knowledge about the environment.

Item URL in elib:https://elib.dlr.de/146339/
Document Type:Conference or Workshop Item (Speech)
Title:WiFi-RTT-SLAM: Simultaneously estimating the positions of mobile devices and WiFi-RTT access points
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Gentner, Christianchristian.gentner (at) dlr.dehttps://orcid.org/0000-0003-4298-8195
Avram, Dianadiana.avram (at) dlr.deUNSPECIFIED
Date:September 2021
Refereed publication:No
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:WiFi, WLAN, WiFi-RTT, Indoor, Indoor Positioning, GNSS, GPS, Positioning, RTT, FTM, round trip time measurements, fine time measurements
Event Title:ION GNSS+ 2021
Event Location:St. Louis, USA
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Communication, Navigation, Quantum Technology
DLR - Research area:Raumfahrt
DLR - Program:R KNQ - Communication, Navigation, Quantum Technology
DLR - Research theme (Project):R - GNSS Technologies and Services
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Institute of Communication and Navigation
Deposited By: Gentner, Christian
Deposited On:08 Dec 2021 10:34
Last Modified:08 Dec 2021 10:34

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