Indoor Localization Using Magnetic Fields

Indoor localization consists of locating oneself inside new buildings. GPS does not work indoors due to multipath reflection and signal blockage. WiFi based systems assume ubiquitous availability and infrastructure based systems require expensive installations, hence making indoor localization an open problem. This dissertation consists of solving the problem of indoor localization by thoroughly exploiting the indoor ambient magnetic fields comprising mainly of disturbances termed as anomalies in the Earth’s magnetic field caused by pillars, doors and elevators in hallways which are ferromagnetic in nature. By observing uniqueness in magnetic signatures collected from different campus buildings, the work presents the identification of landmarks and guideposts from these signatures and further develops magnetic maps of buildings - all of which can be used to locate and navigate people indoors. To understand the reason behind these anomalies, first a comparison between the measured and model generated Earth’s magnetic field is made, verifying the presence of a constant field without any disturbances. Then by modeling the magnetic field behavior of different pillars such as steel reinforced concrete, solid steel, and other structures like doors and elevators, the interaction of the Earth’s field with the ferromagnetic fields is described thereby explaining the causes of the uniqueness in the signatures that comprise these disturbances. Next, by employing the dynamic time warping algorithm to account for time differences in signatures obtained from users walking at different speeds, an indoor localization application capable of classifying locations using the magnetic signatures is developed solely on the smart phone. The application required users to walk short distances of 3-6 m anywhere in hallway to be located with accuracies of 80-99%. The classification framework was further validated with over 90% accuracies using model generated magnetic signatures representing hallways with different kinds of pillars, doors and elevators. All in all, this dissertation contributes the following: 1) provides a framework for understanding the presence of ambient magnetic fields indoors and utilizing them to solve the indoor localization problem; 2) develops an application that is independent of the user and the smart phones and 3) requires no other infrastructure since it is deployed on a device that encapsulates the sensing, computing and inferring functionalities, thereby making it a novel contribution to the mobile and pervasive computing domain