A major burden of signal strength-based fingerprinting for indoor positioning is the generation and maintenance of a radio map, also known as a fingerprint database. Model-based radio maps are generated much faster than measurement-based radio maps but are generally not accurate enough. This work proposes a method to automatically construct and optimize a model-based radio map. The method is based on unsupervised learning, where random walks, for which the ground truth locations are unknown, serve as input for the optimization, along with a floor plan and a location tracking algorithm. No measurement campaign or site survey, which are labor-intensive and time-consuming, or inertial sensor measurements, which are often not available and consume additional power, are needed for this approach. Experiments in a large office building, covering over 1100 m2, resulted in median accuracies of up to 2.07 m, or a relative improvement of 28.6% with only 15 min of unlabeled training data.
Optimization-Based Wi-Fi Radio Map Construction for Indoor Positioning Using Only Smart Phones