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Fingerprinting technique for indoor positioning based on 5G system has attracted attention. Kalman filter (KF) is used as preprocessing of raw data to reduce the disturbance of Received Signal Strength (RSS) values. After preprocessing, Universal Kriging (UK) algorithm is adopted to reduce the efforts of establishing a fingerprinting database by Spatial Interpolation. A machine learning algorithm named  K -Nearest Neighbour (KNN) is used to calculate user equipment’s position. Real experiments are setup with 5G signals over the air. Two indoor scenarios are considered depending whether the base station is located in the same room with user equipment or not. In test room A, the proposed KF and UK algorithms achieve 53% positioning accuracy improvement. In test room B, 43% performance improvement is obtained by the proposed algorithm. 1.44-meter positioning error is observed as the best case for 80% test samples.

An Optimized Fingerprinting-Based Indoor Positioning with Kalman Filter and Universal Kriging for 5G Internet of Things