Self-Configuring Indoor Localization Based on Low-Cost Ultrasonic Range Sensors

In smart environments, target tracking is an essential service used by numerous applications from activity recognition to personalized infotaintment. The target tracking relies on sensors with known locations to estimate and keep track of the path taken by the target, and hence, it is crucial to have an accurate map of such sensors. However, the need for manually entering their locations after deployment and expecting them to remain fixed, significantly limits the usability of target tracking. To remedy this drawback, we present a self-configuring and device-free localization protocol based on genetic algorithms that autonomously identifies the geographic topology of a network of ultrasonic range sensors as well as automatically detects any change in the established network structure in less than a minute and generates a new map within seconds. The proposed protocol significantly reduces hardware and deployment costs thanks to the use of low-cost off-the-shelf sensors with no manual configuration. Experiments on two real testbeds of different sizes show that the proposed protocol achieves an error of 7.16∼17.53 cm in topology mapping, while also tracking a mobile target with an average error of 11.71∼18.43 cm and detecting displacements of 1.41∼3.16 m in approximately 30 s.