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This study presents a new technique to improve the indoor localization of a mobile node by utilizing a Zigbee-based received-signal-strength indicator (RSSI) and odometry. As both methods suffer from their own limitations, this work contributes to a novel methodological framework in which coordinates of the mobile node can more accurately be predicted by improving the path-loss propagation model and optimizing the weighting parameter for each localization technique via a convex search. A self-adaptive filtering approach is also proposed which autonomously optimizes the weighting parameter during the target node's translational and rotational motions, thus resulting in an efficient localization scheme with less computational effort. Several real-time experiments consisting of four different trajectories with different number of straight paths and curves were carried out to validate the proposed methods. Both temporal and spatial analyses demonstrate that when odometry data and RSSI values are available, the proposed methods provide significant improvements on localization performance over existing approaches.

Self-Adaptive Filtering Approach for Improved Indoor Localization of a Mobile Node with Zigbee-Based RSSI and Odometry