Assessment of cooperative and heterogeneous indoor localization algorithms with real radio devices

In this paper we present results of real-life localization experiments performed in an unprecedented cooperative and heterogeneous wireless context. The experiments covered measurements of different radio devices packed together on a trolley, emulating a multi-standard Mobile Terminal (MT) along representative trajectories in a crowded office environment. Among all the radio access technologies involved in this campaign (including LTE,WiFi...), the focus is herein put mostly on Impulse Radio - Ultra Wideband (IR-UWB) and ZigBee sub-systems, which are enabled with peer-to-peer ranging capabilities based on Time of Arrival (ToA) estimation and Received Signal Strength (RSS) measurements respectively. Single-link model parameters are preliminarily drawn and discussed. In comparison with existing similar campaigns, new algorithms are also applied to the measurement data, showing the interest of advanced decentralized message-passing techniques, heterogeneous geometric positioning with hypothesis testing, context-aware localization with e.g., mobility learning or channel-dependent Non Line of Sight (NLoS) mitigation.