CSI-based WiFi-inertial state estimation

WiFi-based localization has received increasing attentions these years as WiFi devices are low-cost and universal. Recent years, tens of WiFi-based localization systems have been proposed which could achieve decimeter-level accuracy with the commercial wireless cards and with no specialized infrastructure. However, such systems require the positions of the Access Points or fingerprint map to be known in advance. In this paper, we present CWISE, an accurate WiFi-Inertial SLAM system without the requirement for Access Points' positions, specialized infrastructure and fingerprinting. CWISE relies only on a commercial wireless card with two antennas and an IMU. We test the CWISE system on a flying quadrotor and it shows that the system is able to work in real time and achieves the mean accuracy of 1.60m.