An ELM-Based Semi-Supervised Indoor Localization Technique With Clustering Analysis and Feature Extraction

In this article, a new indoor localization technique with extreme learning machine (ELM) is proposed where only a small number of received signal strength indicator (RSSI) measurements are labeled. In the off-line learning phase, the iterative self organizing data analysis techniques algorithm (ISODATA) is used to divide the RSSI measurements into some measurement data subsets. Then the multi-kernel ELM (MK-ELM) method is utilized to perform classification learning and obtain the RSSI measurement classification function. For each RSSI measurement subset, a two-stage feature extraction algorithm using the kernel principal component analysis, the deep learning network and ELM method is proposed for RSSI measurement feature extraction. At last, the position regression function of each subset is obtained by the semi-supervised regression learning. In the on-line position estimation phase, using the measurement classification and feature extraction of the received RSSI measurement, the position is estimated based on the corresponding position regression function. The field tests show that the proposed algorithm can obtain more accurate position estimation than other existing ELM based localization approaches do.