CSI-Embedded Cooperative Localization Method for 3D Indoor Environments

Accurate location information of devices within indoor environments is crucial for a wide range of smart home applications. Incorporating range and direction (RD) information from planar arrays on the access point (AP) and user equipment (UE) theoretically improves localization accuracy. However, the ambiguity effect on planar arrays is often disregarded in literature and can worsen localization performance. To address this challenge, we propose a novel cooperative method that embeds channel state information from both the AP and UE into an optimization function. This enables us to eliminate location candidates with incorrect directions due to the array ambiguity effect. We conduct comprehensive simulations in a practical emulated room and find that our proposed method significantly reduces array ambiguity effect and improves accuracy to the meter-level compared to state-of-the-art RD cooperative methods in Wi-Fi and UWB networks.