Simple Localization with Sensors on Grid

This paper proposes a novel and simple indoor localization system based on sensors on a grid and on radio map approach. We analyze the impact of different system variables on the localization error: the number of beacons composing the grid, the training points considered during the construction of the radio map, the radio channel fluctuations, the presence of multiple objects to localize simultaneously. We are able to give a mathematical expression for the localization error as a function of the training points used in the radio map. In case of multiple objects we specify their proper coverage range that can maximize the throughput and minimize the latency of the localization procedure for a given localization accuracy.