CAPTURE - Extending the scope of self-localization in Indoor Positioning Systems

The concept of devices cooperatively assisting with the localization of other devices in either the indoor or outdoor arena is not a new phenomenon. The primary focus of research into such a theory is however, limited to solving the problem of localization accuracy. In this work, the motivation is to provide a solution to the current range limitations of an Indoor Position System (IPS) in the form of a framework Cooperatively Applied Positioning Techniques Utilizing Range Extension (CAPTURE). These range limitations are the culmination of well documented difficulties of localizing using wireless signals in such Non-Line of Sight (NLOS) environments. The coverage of a localization solution is still a new and challenging issue in the indoor environment. In this paper we implement a version of CAPTURE that uses Wi-Fi Direct and Bluetooth Low Energy (Bluetooth LE 4.0) that take advantage of mobile devices at the outer limits of an IPS to help extend its reach into blind spots, where devices cannot be currently located. CAPTURE is evaluated using a live test environment, where range estimations are recorded between cooperating devices. These range estimations are filtered before being placed into a positioning algorithm to locate lost devices. Finally the accuracy of CAPTURE is presented, demonstrating the achievable benefits of implementing CAPTURE as a solution to the problem of coverage in an Indoor environment.