Extreme Learning Machine for Accurate Indoor Localization Using RSSI Fingerprints in Multifloor Environments

A new extreme learning machine (ELM) localization technique that uses received signal strength indicator fingerprints only is proposed for multifloor environments. This structured scheme forms multiple individual ELMs for the floors as well as for the geographically formed data clusters of each floor. Multifloor environments often have huge amount of training and online measurement data. To maximize efficiency, we develop a data preprocessing algorithm, aiming to: 1) efficiently extract out only the essential information from the vast amount of data sets and reduce the data dimension and 2) transform the floor-level data sets and positioning data sets of each floor into a proper structure that is suitable for the proposed ensemble ELM technique. The proposed solution is unique in that its offline phase exploits multiple individual ELMs for all floors to generate a set of floor-level classification functions with the preprocessed training data sets, and for each floor, it exploits multiple ELMs for the data clusters to generate a set of position regression functions. The online phase executes a coarse localization step to estimate the floor by using the floor-level classification functions and a refined step to estimate the position on the floor by using the position regression functions. The proposed algorithm and several existing algorithms are implemented to perform localization using the same measured datasets in a multistory building. For both floor estimation and localization on the floor, it outperforms existing schemes. For most cases, the performance gap is substantial.