Self-calibration of anchor positions for indoor localization

A self-calibration method of anchor positions for indoor localization is proposed. This method is intrinsically a two-step combination of an iterative centroid method(CM) and an iterative trilateral localization method. Among a number of anchors, the distances of each anchor away from the others are measured and the positions located are in turn. The iterative CM is used before applying iterative trilateral localization to coarsely tune the initial positions for the iterative trilateral localization. This iterative CM is proved to be converged because its state vector of every step is determined by the previous one and the Markov State Transition Matrix(MSTM). With the converged result of CM as the initial calculation value of the iterative trilateral localization, a more exact value of the position can be obtained through the iterative trilateral localization algorithm within finite steps. It turns out to be reliable and convenient when using the result of the self-calibration algorithm to locate a user's position.