Multisensor and Collaborative Localization for Diverse Environments

This paper describes the design and implementation of a multi sensor, collaborative localization system for diverse environments. Many different approaches and systems are utilized depending on the requirements and settings of a particular environment, such as indoor, outdoor or urban environments. Location-based services could benefit from a localization system that is suitable for changing environments. We propose an architecture that facilitates multiple localization systems, such as GPS for outdoor as well as RFID-based and optical systems for indoor purposes. Due to the fact that access to respectively integration of localization systems in mobile handheld devices is limited, we introduce the Location Exchange protocol to share ascertained location information among nearby devices using Bluetooth and Wi-Fi communication. This information can be used to improve the accuracy of obtained positions and enables devices to benefit from localization systems and sensors incorporated by nearby devices.