Sensor Modalities and Fusion for Robust Indoor Localisation

Abstract

The importance of accurate and efficient positioning and tracking is widely understood. However, there isa pressing lack of progress in the standardisation of methods, as well as generalised framework of theirevaluation. The aim of this survey is to discuss the currently prevalent and emerging types of sensorsused for location estimation. The intent of this review is to take account of this taxonomy and to providea wider understanding of the current state-of-the-art. To that end, we outline various sensor modalities,as well as popular fusion and integration techniques, discussing how their combinations can help invarious application settings. Firstly, we present the fundamental mechanics behind sensors employed bythe localisation community. Furthermore we outline the formal theory behind prominent fusion methodsand provide exhaustive implementation examples of each. Finally, we provide points for future discussionregarding localisation sensing, fusion and integration methods.

Keywords

• localisation
• efficiency
• fusion
• robustness