A survey of mathematical methods for indoor localization

Abstract

This document provides a survey of the mathematical methods currently used for position estimation in indoor local positioning systems (LPS), particularly those based on radiofrequency signals. The techniques are grouped into four categories: geometry-based methods, minimization of the cost function, fingerprinting, and Bayesian techniques. Comments on the applicability, requirements, and immunity to nonline-of-sight (NLOS) propagation of the signals of each method are provided.