Multilateration localization based on Singular Value Decomposition for 3D indoor positioning

Localization is crucial for various applications, this includes resource coordination in small and ultra-small cells, as well as the whole range of Location Based Service (LBS). Multilateration is a localization technique that is based on distance measurements between multiple reference nodes and a target node. This paper introduces a multilateration localization approach that uses Singular Value Decomposition (SVD) for 3D indoor positioning. It also provides a mathematical multilateration formulation which considers the coordinates of the reference nodes and the relative distance between transmitting nodes. In practical deployments, the relative distance can be estimated using RSSI; we apply Kalman filtering to the RSSI measurements aiming to get a more accurate RSSI value. The approach is complemented by using two selection methods which help chosing the best nodes for multilateration computation. The paper concludes with a discussion of the experimental evaluation results obtained.