RSS-INS integration for cooperative indoor positioning

Location estimation based on received signal strength (RSS) is an increasingly popular method of low-cost positioning. However, the low accuracy afforded by RSS centric systems dramatically limits suitable applications. Herein we discuss a positioning system utilizing cooperative strategies and integration of RSS observables with inertial navigation system (INS) sensors such as those commonly found in mobile devices, e.g. smart phones, tablets, etc. We analyze the theoretical bounds of the system using the Bayesian Cramer-Rao bound (BCRB). Simulation results and theoretical analysis illustrate that significant improvement in positional accuracy over typical RSS methods can be achieved.