See discussions, stats, and author profiles for this publication at: https://www.researchgate.

net/publication/327202336

An Overview of Local Positioning System: Technologies, Techniques and

Applications

Article in International Journal of Engineering & Technology · August 2018

DOI: 10.14419/ijet.v7i3.25.17459

CITATIONS READS

31 5,373

4 authors:

Hameedah Sahib Hasan Mohamed Hussein

ALFurat Al-Awsat Technical University Universiti Teknologi Malaysia
13 PUBLICATIONS 115 CITATIONS 79 PUBLICATIONS 425 CITATIONS

SEE PROFILE SEE PROFILE

Shaharil mad saad Mohd Azuwan Mat Dzahir

Universiti Teknologi Malaysia Universiti Teknologi Malaysia
43 PUBLICATIONS 413 CITATIONS 26 PUBLICATIONS 251 CITATIONS

SEE PROFILE SEE PROFILE

All content following this page was uploaded by Hameedah Sahib Hasan on 04 June 2019.

The user has requested enhancement of the downloaded file.

 International Journal of Engineering & Technology, 7 (3.25) (2018) 1-5

International Journal of Engineering & Technology

Website: www.sciencepubco.com/index.php/IJET

Research paper

An Overview of Local Positioning System:

Technologies, Techniques and Applications
Hameedah Sahib Hasan1, Mohamed Hussein2, Shaharil Mad Saad2*and Mohd Azuwan Mat Dzahir2
1
Ministry of Higher Education and Scientific Research, Al-Furat Al-Awsat Technical University, Iraq.
2
Faculty of Mechanical Engineering, Universiti Teknologi Malaysia (UTM), Johor Bauru, 81310, Malaysia.
*Corresponding author E-mail : shaharil@utm.my

Abstract

Positioning system like global position system (GPS) and Local position system (LPS) have become very important in a large number of
applications such as monitoring and tracking, etc. Because of the limitations of GPS in indoor environments due to the lack of line of
sight (LoS), the use of LPS has become a true necessary to estimate user‟s or object position with a good accuracy. In order to choose the
best LPS system, a compromise between accuracy, precision, power consumption, coverage and cost should be taken into account. This
paper introduces an overview of LPS performance parameters, current technologies, techniques and methods used by LPS. On the other
hand, the comparison between LPS technologies and techniques used based on those technologies are also discussed. Furthermore, the
LPS‟s applications that have been done by previous researches such as human tracking, object tracking, animal tracking and automatic
guide vehicle (AGV) tracking will be discussed. We believe this paper would catalyze further investigation by the researcher which is
interested on the LPS field.

Keywords: Local Positioning System; Global Position System; LPS Techniques and Application; Tracking; Automated Guide Vehicle

accuracy. There are a lot of type of technologies in LPS such as

infrared (IR), radio frequency identification (RFID), Bluetooth,
1. Introduction Wi-Fi, ultrasound systems and vision-based systems. This paper
described a comparison of based on those technologies. This paper
As new technologies develop at a great pace, local position system will also discuss the LPS‟s application that have been done by
(LPS) become more and more diversified and increasingly im- previous researches such as human tracking, object tracking, ani-
portant in a large number of applications and contexts such as mal tracking and finally AGV tracking
healthcare, targeted, monitoring, tracking and security (Mainetti,
Patrono and Sergi, 2014)(Chabbar and Mouhcine, 2017). Howev-
er, most of them suffer from either accuracy or coverage limita- 2. Performance Evaluation Parameters
tion. Positioning system can be define as a system navigation
which give a location information of the object or person at any Several properties are evaluated the performance which allow to
places. Position system can divided into two categories which are improve the quality of system and also the efficiency. In order to
global positioning system (GPS), local position system (LPS) (Al- choose the best LPS system, a compromise between accuracy,
Ammar et al., 2014). All system can provide 2D and 3D infor- precision, power consumption, coverage and cost should take into
mation. GPS being the most popular technology. It gives a loca- account.
tion in term of longitude and latitude of the object/person on the
Earth surface (Mainetti, Patrono and Sergi, 2014). The first GPS 2.1 Accuracy:
named NAVSTAR has been developed in year 1978 and in year
1984, GPS portion abilities is reachable to the civil community. In It represents an error of distance between the estimated position
1995, the 24 satellite system used to obtain full operational in GPS and the real position of the user or object (Basri et al., 2017;
system. GPS has been used in many applications such military and Chabbar et al., 2017). This value is indicated to mean value of
intelligence applications and transportation navigation error location. The performance of any system express in term of
(Brusnighan et al., 1989). However, the GPS has many limitations accuracy which is refer to the closer the estimated location to ex-
such as GPS satellite signal is slow because it need to pass act position. The accuracy is usually represent in meter.
through the atmosphere. It can be blocked by solid thing and any
obstacle due to the lack of LoS to satellite. Thus, the GPS is not
suitable for determining the location of the objects in indoor (Me-
2.2 Precision
dina.C, Segura. J. C., 2013)(Basri and El Khadimi, 2017). LPS is a
technique used to obtain the position of people or objects inside a :It refers to probability of accurate location (Basri et al., 2017).
building that is covered by a local area network. The use of LPS Precision has close related with accuracy but they are not equal.
has become a true necessary for which a various technology have Both should be known to estimated good localization (Miši, 2015).
been considered in order to estimate user‟s position with a good Precise is represent in specific distance such as 3cm or 4cm and so
Copyright © 2018 Authors. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted
use, distribution, and reproduction in any medium, provided the original work is properly cited.
2 International Journal of Engineering & Technology

on for example, if accuracy is 90%to 2cm, which is mean that lenge in Wi-Fi is power consumption and signal attenuation like
90% of the error are less than 2cm. wall and doors ,beside improve accuracy by dense deployment of
wireless routers.
2.3 Cost:
3.3 Ultra-wideband (UWB) Technology:
It represents the price of equipment and all cost which is required
for infrastructure, installation of equipment and maintenance, UWB technology started early 1960s working on time-domain
therefore, it is desirable to keep the cost as low as it is possible electromagnetic. The term “UWB” belong to Defense Advanced
(Chabbar et al., 2017; Al-Ammar et al., 2014). Research Projects Agency (DARPA) in study of radar which un-
dertaken in 1990 (Jiang, 2010). Until 1994, the majority of the
2.4 Power Consumption: work was performed under US government programs wave propa-
gation. In 1998, the Federal Communication‟s Commission (FCC)
It is related to life time of device where low power consumption began to regulate the spectrum for UWB applications and in Feb-
represent the high system performance and vice versa (Basri et al., ruary 2002 the FCC approved spectrum allocation for UWB sys-
2017). tems. UWB defines as a wireless technology, it uses ultra –short
pulse (Angrisani et al., 2017) to calculate positioning based on
2.5 Coverage: radio signals which are traveling receiver node target and
transmitter node which is has known position. It provides a higher
accuracy, good precise distance measurement and coverage area is
It represents the location area limits (Basri et al., 2017), which the
15- 25 m 2-D area. It has low complexity, both of security and
signal can be detected through it, where the location system is
scalable are high, low power consumption and high data rate
available to estimate positioning information .The effectiveness of
transmission. It has ability to resistance to multi path effects
the systems are related to coverage area (Mannay et al., 2016). (Mannay et al., 2016; Ren et al., 2017). Finally the cost is cheaper
therefore UWB becomes attractive in different applications like
2.6 Scalability: tracking (Hu et al., 2017).

It deals with the distance between transmitters and receivers. It 3.4 Radio Frequency Identification Technology (RFID):
should be appropriated where a location performance degrades
when distance rise, while it is desirable that scalability is as small The RFID localization consists of two components, one is reader
as possible, i.e. to detect the position of the receiver as accurately and another is Tag (Liu et al., 2017), based on what, between them.
as possible (Mannay et al., 2016). It needs to be localized. This reader actually reads data which is
emitted from Tag, where one transmits data and another receives it
3. Typical of Local Positioning Technologies (Mannay et al., 2016). Normally, this data contains a univocal
serial number, and the same time addition information such as
Many LPS technologies used to estimate the position of object / location information stored in the Tag. According to memory size
person inside environment. LPS is one of best solution which used of a Tag which is allowed to store amount of data in it. The accu-
to solve weakness problem of indoor localization. Currently, there racy of RFID system is highly according on both of density of Tag
are several technologies have studied in this section. The follow- deployment and the maximal reading ranges (Mainetti et al.,
2014). RFID system works in radio wave from 860MHz -960MHz
ing gives more details of each current technology.
in area range about tens meters. In a probable localization context,
a large number of RFID Tags, which contains location information,
3.1 Infrared Radiation (IR) can deploy to cover an entire indoor environment. Reader localiza-
tion can read the nearest Tag and can get information about person
Technology: It is used widely to tracking person or object through location it is holed. RFID uses without need to LoS therefore it
infrared emitters and receivers .It has accuracy around 57cm to has many applications including people, automobile, assembly
2.3m (Brena et al., 2017), 1cm to 2m (Farid et al., 2014). The industry and industrial application (Basri et al., 2017).
mobile location is equipped with an infrared Tag emitting a signal
at regular intervals. The receivers are installed on the ceiling in
3.5- Ultrasonic Technology:
every room of the environment. These receptors are interconnect-
ed to form a network for detecting the Tag. One of important used
This is another type of LPS used for tracking to locate the place of
of IR technology in sensitive communication because of a signal
human or object. It uses sound frequency to estimate the user loca-
cannot penetrate through walls therefore IR signal will not be
tion by using taken time to travel ultrasonic signal from transmit-
accessible outside the room or building. IR communication is
ter to receiver (Brena et al., 2017). Most ultrasound technologies
blocked by obstacles that block light almost everything solid. IR
are combined with other technology in order to achieve a deter-
requires LoS between transmitter and receiver when it used, this is
mine distance transmitter / receiver Farid et al., 2014 . It is usually
the major disadvantage of it (Aitenbichler et al., 2003) in addition,
used for estimate positioning in outdoor system. In order of limita-
the IR technique needs expensive hardware and also cost of
tion to distance gauge (it about 10 m) with variation of frequent in
maintenance is high (Basri et al., 2017; Mainetti et al., 2014).
term of temperature. According to its limitation, the accuracy of
the system has more limitation for outdoor position. It is improved
3.2 Wi-Fi Technology: by using in LPS ( Kang et al., 2012).

This system widely used for local positioning because it is not 3.6 Bluetooth Technology:
need any LoS and it has a good ability to locate the position of
person or object. Another reason is Wi-Fi uses frequencies and It is wireless standard used for positioning estimation. Bluetooth
standardized protocols 802.11 networks, it works on a standard- operates in the 2.4GHz ISM band. Each Bluetooth Tag has a
ized hardware, often the Wi-Fi compatible device can be work unique ID, which used for locating the Bluetooth Tag (Farid et al.,
without any installing, any extra software and additional hardware 2013). This technology is based on a network of terminals serving
(Mainetti et al., 2014), therefore cheaper than proprietary hard- as access points between wireless and wired network. Inside
ware as purely RFID solutions (Basri et al., 2017).The main chal- buildings, the range of these terminals is narrower, it is usually
International Journal of Engineering & Technology 3

only dozen meters. The main advantage of it security is high and source (transmitter) like TOA at point of sending signal to esti-
power consumption is low (Farid et al., 2013). Finally, it does not mate position sending time (Mannay et al., 2016). However, the
need any infrastructure and Tags transceivers have small size time of receiver section it needs to be synchronized at different
therefore it has effectiveness in. On the other hand the cost is receiver sections measurement, receivers must be paired to get
higher and the range of coverage area is shorter (10-15) m. TDOA measurements to any location which want to be estimated.
(Mannay et al., 2016)Because of an accuracy is (2-3 ) m with time When the signal is received at two reference points, the TDOA
delay 20s, therefore it is unsuitable for LPS in real time used to calculate the different distances between the source and
measurement (Mainetti et al., 2014). two receivers points. This difference can be calculated as follow
(Link, 2003).
4. Position Estimation Techniques: Δd=c*Δt (4)

The positioning of LPS is based on the estimation of certain Where, c = speed of light, = deferent time of arrival at each
technique to derermine receiving signals. In order to use the LPS receiver. Thus, in term of coordinate the difference, can be
to measure receiving position, Difrrent technique should be used written as nonlinear equation as follow:
(Miši, 2015). Several distances are obtained indirectly by
estaimating techniques which are proportional to distance
calculation (Mannay et al., 2016). Positioning of receiver provids
through these techniques :

4.1 Time of Arrival (TOA) Technique

Where, = known position of the receiver 1, =
:TOA is measured from signal propagation between signal sent known position of the receiver 2, (x ,y) = unknown position of
(transmitter) and signal reception (receiver) (Miši, 2015; Ravindra source position . This equation converted to the form of a hyper-
et al., 2013). Distance estimates based on different between each bola. This process is repeated with the remaining receiver‟s pairs
transmitter time and receiver time. It is represented time delay such as receiver 2 and 3, as shown in Figure 1.1 below. Once
enough hyperbolas have been calculated, the location of the source
can be calculated by finding the intersection (Keefe, 2017).
(Güvenç et al., 2009), multiply with speed of light (c), which
is known equal to 300000 km/sec.

(1)

TOA has high precise depending on signal sent from transmitter to

different receiving which is represent sensor (Mannay et al., 2016).
The TOA requires very precise knowledge of the sending
Figure.1 Possible position in relation to all receivers
time(start time)where transmitter and all receiver should be in the
same time or need accurately synchronized with time source TDOA depends to different of time signal between the main signal
(Mannay et al., 2016; Ravindra et al., 2013). Normally TOA tech- and the signals of secondary stations in the chain. However, The
nique can be measured as follow: speed of the wave in the air varies with the some parameter such
Suppose point Pl= (Xl, Y), where the coordinate is known of re- as temperature and humidity, which makes the estimation of the
ceiver of the l =1, 2… L and P= (X, Y) represent unknown posi- distance inaccurate (Basri et al., 2017).
tioning of the transmitter which is calculated. In order to measure
TOA, we need at least 3 transmitters more than 3 or equal to 3.
4.3 Angel of Arrival (AOA) Technique:
The distance can be calculated between transmitter and receiver
which is represent d1:
location of mobile station can be estimated by determining the
angle of incidence of the arrival signals at the receiving sensor
, =
(Mannay et al., 2016). AOA measures two or more transmitters
which are intersection to make radial line by using geometry cal-
culations to estimate position for the receiver as shown in Figure
1.2 (Miši, 2015). In 2D at least two receiving sensors are needed
for positioning estimation. To improve precise it required more
than three of the receiving sensor. The AOA is used to estimate
The transmitter radiates a signal at start time 0 and the l th receiver
the distance for localization and obtained directions for neighbor-
receives it at time t1 which is called TOAs and it represents as
ing sensors
equation below (Ravindra et al., 2013):

The main advantage of TOA can minimize the reference points

which is used for estimated positioning and keep the necessary Figure. 2: Angel of Arrival
number as possible, or it becomes as constant number, which can
increase the precise and make better accuracy (Galler et al., 2007). 4.4 Received Signal Strength Indicator (RSSI) Tech-
niques:
4.2 Time Different of Arrivals (TDOA) Technique:
TDOA does not use measurement of absolute time but it deals RSSI technique is depended on the estimation of a RSSI value
with measurement of relative time at every receiver section (sen- (Miši, 2015). The RSSI value is directly based on the RF signal
sor). Therefore, TDOA does not need to a synchronize time of the strength of all access points such as AP1, AP2 and AP3 (Gulden et
al., 2009). RSSI is deep related on the radio frequency (RF) signal
4 International Journal of Engineering & Technology

strength, but it is not equal to it. The RF includes RSSI. The RSSI limbs(X. Qi, C. Cong, 2010).The benefit of video tracking tech-
refers to receive power from the signal, it is used on planning and nology is the knowing the physical therapy which is rely for the
optimizing of radio parameters in order to evaluate the signal qual- mobility handicaps. In additional there is video based communica-
ity and a predict RF conditions of the network (Basri et al., 2017). tion can show the animal tracking. By using a camera positioning
Although RSSI can achieve meter-level localization accuracy in the detection of animals tracking is achieved. It notice animals
simple environments, it suffers from dramatic performance degra- motion and behavior. On the other hand, there are some disad-
dation in complex situations due to multipath fading and temporal vantage such as the cost of the system is higher, it has limited rang
dynamics (Zheng et al., 2013). The deployment of the RSSI tech- for using and complex function. Another system uses wieldy in
nique has two states, one is based on the (RSS) radio map contains animal tracking is RFID. It is contained three types low frequency
of the RSSI vectors, while the other based on the estimated of the (LF), high frequency (HF) and ultra-high frequency (UHF). For
signal propagation losses (Mainetti et al., 2014). The RSSI has animal tracking the LF is used. UHF system uses both video and
become the mainstream of indoor positioning and the coverage RFID LF or HF bands (Mainetti, Patrono and Sergi, 2014).
area is widely also RSSI for local positioning works without need
any modifications or addition hardware part. The LoS between the 5.4 AGV Tracking:
transmitter and the receiver are not required, which is the main
reason why the majority of the LPS are based on the RSSI tech- It uses widely in manufacturing system in different application.
nique. Lastly it is simple to deployment compared to other tech- Nowadays other application of AGV is extensively developed in
niques that AOA and TDOA, without need for specialized hard- different area such warehouse, container terminals and transporta-
ware on the transmitter(Krishnamurthy, 2004). tion system. In manufacturing system, AGV are used to transport
all types of material related to the manufacturing process. It used
5. LPS Applications: in manufacturing for example MHS and storage, in distribution
for example warehouse, in transshipment for example container
terminal and external transportation area. AGV used in outdoor for
There are various applications using in LPS. One of this is track- transportation system such as travelling in tubes between compa-
ing which is used to describe location. The choice of using the nies and an airport (Van der Heijden et al.,2002a ; Van der
technology application is depending on purpose of using and also Heijden et al., 2002b). AGV used for transportation of goods in
target requirements. It is different from case to another, especially industrial warehouse. Another task of AGV is to transport a dead
in terms of accuracy, time, precise and cost. body from the first location which is known a loading place to last
position which is located as designated furnace. It moves along the
5.1 Human Tracking: path which is designed previously by known select path. Even
entering a rotating sub-path, both the identification of a selected
Depth camera is used to track and detect human‟s location in LPS path and fingerprinting are used to precisely control the AGV
application without requirements to use wearable device and using (Hong et al., 2014).
RGB camera (Saputra, 2012). Kinect tracking is widely used in
the most applications of tracking, this device can equip with 6. Comparison between LPS Technologies:
depth-camera and locate human‟s presence .The application can
be obtained stream data from Kinect and analyze by using skeletal
tracking library on Kinect for Windows SDK v1(Saputra, 2012). In order to choose the best LPS system, a comparison between
The position in localization environment is developed by using accuracy, precision, power consumption, coverage and cost should
multiple depth-cameras for more accurate, it is better to use three take into account. It becomes necessary for design or implementa-
Kinects and distribute over space where they form one stereo envi- tion of LPS (Mainetti et al., 2014).
ronment the mainly used of it to capture picture to full body in 3
dimension .Human motion is tracked by assembling the data from Table 1: Comparison between LPS
three depth cameras with low-cost each of which captures 640 × Technology Accuracy Coverage Researcher
(m) (m)
480 depth and RGB images synchronously. Each camera is linked
IR 1-2,0.57- Good In- Chaimaa (2017), Brena
to a computer, and one of them choices randomly to be the master. 2.3, 0.01 door,1-5 (2017), Luca(2014)
The rest are linked to the master by network cables. The data is UWB 0.2,0.025 50-100,15- Khaoula (2016), Luca
stored directly when the master computer sends a storage signal to 25 (2014)
the rest. (Liu et al., 2016). The tracking application can visualize Wi-Fi 1-5 Building Chaimaa ( 2017), Farid
human location on 3D indoor also uses software (WPF) 4.0 Win- level, 20-50 (2013) , Luca (2014)
dows Presentation Foundation. The important thing for this appli- Bluetooth 10 ,2-5,0.1 10-15,-, 1- Khaoula(2016), Chaimaa
cation coverage of human location which intersect, it is made two 30 (2017), Luca (2014)
Kinects located in adjacent position therefore location of human is RFID 1-100, 0.1 0.1-100, 1- Khaoula (2016) , Luca
combined. 10 (2014)
Ultrasound 0.03-1, N/A, 2-10 Chaimaa (2017), Fa-
0.01 rid( 2013) , Luca (2014)
5.2 Object Tracking: WLAN 3-30 50-100 Al-Ammar (2014)
Vision 0.01 1-10 Luca (2014)
Camera based localization is used widely for observe location camera 0.0001 1-10 Khaoula (2016)
change of object without needed to utilize additional references In Table 1 two performance parameters have been choice for the
(Mainetti, Patrono and Sergi, 2014). IR localization system is comparison of LPS technologies with researcher and year.
utilized to tracking object. This system is related to resolution of
infrared sensor which is capable to achieve high accuracy. Table 2: Comparison between Position Estimation Techniques
Technolo- Techniques Typical Researcher
gy environ-
5.3 Animal Tracking: ment
IR Proximity TOA, Indoor Chaimaa(2017),
In the last time the video technology is used in animal tracking to Thermal imaging Farid(2013) ,
determine motion. For this purpose video tracking technology is active beacons khaoula(2016)
implementation to detect the location and movement of mice‟s UWB TOA, TDOA, Indoor Khaoula (2016),
Simulation Luca (2014), Mo-
 International Journal of Engineering & Technology 5

TDOA hamed R. Mahfouz Fi method based on fingerprinting technique‟, IEEE, pp. 1–5.
(2008) [8]Farid, Z. et al. (2014) „Leveraging existing WLAN infrastructure for
Wi-Fi Proximity TOA, Building Chaimaa wireless indoor positioning based on fingerprinting and clustering
TDOA, RSSI, level, In- (2017),Farid(2013) technique‟, 13th International Conference on Electronics,
Theoretical door , khaolua (2016) Information, and Communication, ICEIC 2014 - Proceedings. doi:
propagation 10.1109/ELINFOCOM.2014.6914415.
model, finger- [9] Farid, Z., Nordin, R. and Ismail, M. (2013) „Recent advances in
printing wireless indoor localization techniques and system‟, Journal of
Bluetooth RSSI, Theoreti- indoor Chaimaa (2017), Computer Networks and Communications, 2013. doi:
cal propagation Farid(2013) , 10.1155/2013/185138.
model, CoO Khaoula(2016) [10] Galler, S. et al. (2007) „Combined AOA / TOA UWB localization‟,
RFID Proximity TOA, indoor Chaimaa pp. 1049–1053.
RSSI ,Theoretica (2017),Farid(2013) [11] Gulden, P., Roehr, S. and Christmann, M. (2009) „An overview of
l propagation , khaolua (2016) wireless local positioning system configurations‟, IEEE MTT-S
model, CoO International Microwave Workshop Series on Wireless Sensing,
ultrasound TOA, AOA indoor Chaimaa Local Positioning and RFID, Proceedings, IMWS 2009 - Croatia.
(2017),Farid(2013) doi: 10.1109/IMWS2.2009.5307894.
WLAN RSSI - Al-Ammar(2014) [12] Güvenç, I. and Chong, C. C. (2009) „A survey on TOA based
Vision image processing indoor Luca(2014) wireless localization and NLOS mitigation techniques‟, IEEE
algorithm Communications Surveys and Tutorials, 11(3), pp. 107–124. doi:
10.1109/SURV.2009.090308.
Camera angle measure indoor khaoula(2016)
[13] Hu, S., Kang, M. and She, C. (2017) „Vehicle positioning based on
In table 2, there are many techniques are used for LPS but the common
UWB technology‟, Journal of Physics: Conference Series, 887, p.
techniques in LPS are TOA, TDOA, RSSI.
12069. doi: 10.1088/1742-6596/887/1/012069.
[14] Jiang, S. (2010) „Ultra-Wide Band technology applications in
7. Conclusion construction : a review‟, pp. 207–213.
[15] K. Kang-Wook, P. Myung-Gon, T. Hishikawa, H. Junghee, and L.
and Chang-Gun (2012) „“Exploiting Ultrasonic Reflections for
This review paper of LPS includes technologies, techniques, per- Improving Accuracy of Indoor Location Tracking,”‟ 9th Int. Conf.
formance metrics has been presented. On the other hand, the com- Ubiquitous Intelligence & Computing and 9th Int. Conf. on
parison between LPS technologies and techniques used based on Autonomic & Trusted Computing (UIC/ATC), Fukuoka, p. p. 87–
those technologies are also discussed. Furthermore, the LPS‟s 95,.
applications that have been done by previous researches such as [15] Keefe, brian o (2017) „Finding Location with Time of Arrival and
human tracking, object tracking, animal tracking and automatic Time Difference of Arrival Techniques‟, pp. 1–3.
[16] Krishnamurthy., K. K. and P. (2004) „Properties of indoor received
guide vehicle (AGV) tracking are discussed. Different approaches
signal strength for wlan location fingerprinting. In Mobile and
of this technology were discussed and several limitations among Ubiquitous Systems: Networking and Services, 2004.
them were observed. However, the best choice is to compromise MOBIQUITOUS 2004 on‟, . The First Annual International
the criteria, which can achieve by using UWB technology to get Conference on IEEE, p. 14–23.
accuracy in centimeter level with using either TOA or TDOA [17] Link, S.- (2003) „POSITIONING USING TIME-DIFFERENCE OF
technique. ARRIVAL MEASUREMENTS Fredrik Gustafsson and Fredrik
Gunnarsson Department of Electrical Engineering‟, Electrical
Engineering, pp. 8–11.
Acknowledgement [18] Liu, M. et al. (2017) „RFID Indoor Localization System for Tag and
Tag- free Target based on Interference‟, pp. 372–376.
The authors wish to thank to Ministry of Higher Education, Ma- [19] Mainetti, L., Patrono, L. and Sergi, I. (2014) „A survey on indoor
laysia (MoHE) and Universiti Teknologi Malaysia (UTM) for positioning systems‟, 2014 22nd International Conference on
Software, Telecommunications and Computer Networks (SoftCOM),
providing the funding and facilities to conduct this research with pp. 111–120. doi: 10.1109/SOFTCOM.2014.7039067.
Project No. R.J130000.7824.4F839 and Q.J130000.2524.20H25. [20] Mannay, K. et al. (2016) „Location and Positioning Systems :
Performance and Comparison‟, pp. 16–18.
References [21] Medina.C, Segura. J. C., and D. la T. . (2013) „Ultrasound indoor
positioning system based on a low-power wireless sensor network
[1] Aitenbichler, E. and Mühlhäuser, M. (2003) „An IR local positioning providing sub-centimeter accuracy,‟ Sensors (Switzerland), 13, n,
system for smart items and devices‟, Proceedings - 23rd pp. 3501–3526.
International Conference on Distributed Computing Systems [22] Miši, J. (2015) „An Overview of Wireless Indoor Positioning
Workshops, ICDCSW 2003, pp. 334–339. doi: Systems‟, 14(March), pp. 301–306.
10.1109/ICDCSW.2003.1203576. [23] Ravindra, S. and , Jagadeesha, S. N. (2013) „Time of Arrival Based
[2] Al-Ammar, M. A. et al. (2014) „Comparative survey of indoor Localization in Wireless Sensor Networks: A Linear Approach‟,
positioning technologies, techniques, and algorithms‟, Proceedings Signal & Image Processing : An International Journal, 4(4), pp.
- 2014 International Conference on Cyberworlds, CW 2014, pp. 13–30. doi: 10.5121/sipij.2013.4402.
245–252. doi: 10.1109/CW.2014.41. [24] Ren, A. et al. (2017) „A Study of Indoor Positioning Based on UWB
[3] Angrisani, L., Arpaia, P. and Gatti, D. (2017) „Analysis of Base-Station Configurations‟, pp. 1939–1943.
localization technologies for indoor environment‟, 2017 IEEE [25] Zheng.Y, Zhou.Z, A. . (2013) „From RSSI to CSI: Indoor
International Workshop on Measurement and Networking, M and N localization via channel response.‟, ACM Computing Surveys
2017 - Proceedings, pp. 0–4. doi: 10.1109/IWMN.2017.8078385. (CSUR) 46.2.
[4] Basri, C. and El Khadimi, A. (2017) „Survey on indoor localization
system and recent advances of WIFI fingerprinting technique‟,
International Conference on Multimedia Computing and Systems -
Proceedings, pp. 253–259. doi: 10.1109/ICMCS.2016.7905633.
[5] Brena, R. F. et al. (2017) „Evolution of Indoor Positioning
Technologies: A Survey‟, Journal of Sensors, 2017. doi:
10.1155/2017/2630413.
[6] Brusnighan, D. A. et al. (1989) „Orientation aid implementing the
global positioning system‟, Proceedings of the Fifteenth Annual
Northeast Bioengineering Conference, (Lcd), pp. 33–34. doi:
10.1109/NEBC.1989.36684.
[7] Chabbar, H. and Mouhcine, C. (2017) „Indoor localization using Wi-

View publication stats