Simultaneous tracking and RSS model calibration by robust filtering

Received Signal Strength (RSS) localization is widely used due to its simplicity and availability in most mobile devices. The RSS channel model is defined by the propagation losses and the shadow fading. These parameters might vary over time because of changes in the environment. In this paper, the problem of tracking a mobile node by RSS measurements is addressed, while simultaneously estimating a two-slope RSS model. The methodology considers a Kalman filter with Interacting Multiple Model architecture, coupled to an on-line estimation of the observation's variance. The performance of the method is shown through numerical simulations in realistic scenarios.