THESIS
2016
xiii, 37 pages : illustrations ; 30 cm
Abstract
WiFi-based localization has received increasing attentions these years as
WiFi devices are low-cost and universal. Recent years, tens of WiFi-based
localization systems have been proposed which could achieve decimeter-level
accuracy with the commercial wireless card and with no specialized infrastructure. However, such systems require the positions of the Access Points or fingerprint map to be known in advance. In this thesis work, we present CWISE,
an accurate WiFi-Inertial SLAM system without requirement for Access Points'
positions, specialized infrastructure and fingerprinting. CWISE relies only on a
commercial wireless card with two antennas and an IMU. We test the CWISE
system on a flying quadrotor and it shows that the system is able to work in
real time and obtain mean a...[
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WiFi-based localization has received increasing attentions these years as
WiFi devices are low-cost and universal. Recent years, tens of WiFi-based
localization systems have been proposed which could achieve decimeter-level
accuracy with the commercial wireless card and with no specialized infrastructure. However, such systems require the positions of the Access Points or fingerprint map to be known in advance. In this thesis work, we present CWISE,
an accurate WiFi-Inertial SLAM system without requirement for Access Points'
positions, specialized infrastructure and fingerprinting. CWISE relies only on a
commercial wireless card with two antennas and an IMU. We test the CWISE
system on a flying quadrotor and it shows that the system is able to work in
real time and obtain mean accuracy of 1.60m.
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