Hindawi Publishing Corporation

International Journal of Distributed Sensor Networks

Volume 2015, Article ID 528747, 7 pages
http://dx.doi.org/10.1155/2015/528747

Research Article
Wireless Localization Based on RSSI Fingerprint Feature Vector

Aiguo Zhang,1 Ying Yuan,1 Qunyong Wu,2 Shunzhi Zhu,1 and Jian Deng1
1
College of Computer and Information Engineering, Xiamen University of Technology, Xiamen 361024, China
2
Spatial Information Research Center of Fujian Province, Fuzhou University, Fuzhou 351002, China

Correspondence should be addressed to Aiguo Zhang; zagcfx@163.com

Received 1 February 2015; Accepted 14 May 2015

Academic Editor: Dakshnamoorthy Manivannan

Copyright © 2015 Aiguo Zhang et al. This is an open access article distributed under the Creative Commons Attribution License,
which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

RSSI wireless signal is a reference information that is widely used in indoor positioning. However, due to the wireless multipath
influence, the value of the received RSSI will have large fluctuations and cause large distance error when RSSI is fitted to distance.
But experimental data showed that, being affected by the combined factors of the environment, the received RSSI feature vector
which is formed by lots of RSSI values from different APs is a certain stability. Therefore, the paper proposed RSSI-based fingerprint
feature vector algorithm which divides location area into grids, and mobile devices are localized through the similarity matching
between the real-time RSSI feature vector and RSSI fingerprint database feature vectors. Test shows that the algorithm can achieve
positioning accuracy up to 2–4 meters in a typical indoor environment.

1. Introduction
Localization technology based on RSSI (Received Signal
Strength Indication) makes use of radio frequency signals to
estimate the distance between the transmitting and receiving
devices. Then the position of mobile device is obtained
by those distances with trilateration technique algorithm
[1]. Currently, localization algorithm is divided into two
categories, ranging algorithm and nonranging algorithm.
Among them, ranging algorithm is implemented in the
way of trilateration, triangulation, or maximum likelihood
estimation by measuring the distance and angle between
receptors and transmitters, such as TOA, TDAO, and AOA.
Nonranging localization algorithm is implemented by the
connectivity between different devices and does not need
the information of distances and angles. Furthermore, the
distances based on RSSI can be measured by the signals
transmitted from wireless communication devices, and this
kind of localization will not increase hardware costs, so it
is the common method for localization in wireless sensor
networks [2–9].
But in the actual applications, the distance measurement
based on RSSI is influenced by reflection, multipath, antenna
gain, and so forth, and large positioning error is caused.
Therefore, the localization method based on fingerprint
feature vector is put forward in this paper. First, the location
area will be divided into grids, and the received RSSI values of
all Wi-Fi sources in each grid will be collected. Second, all the
received RSSI values will be stored into fingerprint database
which can be formed by training sample vectors. Third,
the localization results are obtained through the similarity
matching between the real-time RSSI value vector of mobile
devices and fingerprint database in actual positioning. In this
method of localization, neither the known coordinates of Wi-
Fi sources are necessary, nor does the RSSI value need to
be transferred into distances, so it can reduce the impact of
environmental factors.
2. Wireless Localization Design Based on
RSSI Fingerprint Feature Vector
In the course of wireless localization based on RSSI fin-
gerprint feature vector, the RSSI values received from all
of the wireless APs make up the fingerprint feature vectors
of the location grids, and the fingerprint database is estab-
lished. Then the real-time RSSI value vector received can be
identified for fingerprint positioning. Its positioning process
is divided into two stages, which are the establishment of
fingerprint database and real-time positioning, and shown in
Figure 1.
2 International Journal of Distributed Sensor Networks

AP1 AP2 · · · APk

Database of RSSI fingerprint feature vector MU

Assume VRSSI i,j = (VRSSI1, VRSSI2 , . . ., VRSSIk )

G?,? (RtRSSI 1 , RtRSSI 2 , . . ., RtRSSI k )
VRSSIi,j 1 2 ··· n
1 VRSSI1,1 VRSSI1,2 ··· VRSSI1,n
Collect 2 VRSSI2,1 VRSSI2,2 ··· VRSSI2,n Grids Localization
matching results
··· ··· ··· ··· ···
MU (Gi,j ) m VRSSIm,1 VRSSIm,2 ··· VRSSIm,n
Real-time localization stage
Establishment of fingerprint database stage

Figure 1: Framework of Wi-Fi localization based on RSSI fingerprint.

In the course of wireless localization based on RSSI Wireless AP1 North Wireless AP2
fingerprint feature vector, first, a lot of Wi-Fi signal devices
are arranged, typically wireless APs (Access Point), and the Gm,01 Gm,02 ··· Gm,n
number of APs is in correspondence with the dimensions
of vector, here represented by 𝑘. Then the localization area
is divided into a number of grids, here represented by 𝐺𝑖,𝑗
··· ··· ··· ···
(𝑖 < 𝑚, 𝑗 < 𝑛). Finally, the mobile device (MU) can be located
via grid matching between real-time RSSI value vector and
fingerprint database. West
G02,02 East
In the stage of establishment of fingerprint database, the G02,01 ··· G02,n
RSSI values and MAC (Media Access Control) address in
each center of all the grids are collected, and they are stored
into the database. Due to environmental factors, single RSSI G01,01 G01,02 G01,n
value is not stable. In order to weaken the influence of unsta- ···
ble RSSI values, multiple times of measurements are carried
out and averaged in each grid. In real-time localization stage,
the real-time location of the grid is calculated by comparing
South
real-time RSSI value vector received with grid vectors in the Wireless AP··· Wireless APk
database. To the end, the method includes the RSSI data
collection and establishment of fingerprint database, grid Figure 2: Schematic diagram of grid data collection in localization
matching and localization for real-time RSSI value vector, and area.
accuracy analysis of the positioning results, and they will be
introduced separately in the following.
Typically, the larger vector dimensions of 𝑘, the richer
3. The Data Collection and Organization of expression of vector features, and the higher difference
between different vectors will be acquired. In order to
RSSI Fingerprint Feature Vector improve the wireless Wi-Fi positioning accuracy, enough
3.1. Data Collection Points Arrangement for RSSI Fingerprint wireless APs should be laid in the location area, but it
Feature Vector. As is shown in Figure 2, location area is also makes the RSSI data collection capacity increase. For
divided into closely linked grids, and the grids can be example, a location area is 100 × 80 m, mesh size is 2 × 2 m,
arbitrarily sized and shaped. In order to illustrate the idea of and the number of the wireless APs is 20; then the recorded
positioning, the grids are set to squares in the paper; at the number of RSSI values to be stored is 100 × 80 × 20/(2 ×
same time, the size of the grid represents the spatial posi- 2) = 40000. For the purpose of management of all the grid
tioning accuracy. All grids are numbered from southwest to vector data effectively, database is suitable for storing and
northeast orderly, and there are a lot of wireless signal devices organization of the received RSSI data.
in the targeted area, ranked by AP1 , AP2 , AP, . . . , AP𝑘 . In the
course of RSSI collection, all the RSSI values from APs in each 3.2. Data Organization of RSSI Fingerprint Feature Vectors.
grid will be collected and the corresponding MAC address Large quantity of RSSI fingerprint feature vector needs to be
will also be recorded. read for localization each time. Therefore, a more efficient
International Journal of Distributed Sensor Networks
Query All RSSI data Return
Determined
grid Gi,j tables
Figure 3: The process of RSSI data query and fingerprint feature vector construct.
Table 1: The structure of RSSI data table.
MACid C01 C02 C𝑛
⋅⋅⋅
(integer) (text) (text) (text)
Record 01 ⋅⋅⋅ Record 01 ⋅⋅⋅ Record 01
.. .. .. .. ..
. . . .
Record 𝑚 ⋅⋅⋅ Record 𝑚 ⋅⋅⋅ Record 𝑚
data organization way needs to be used in terms of matching
algorithm characteristics on RSSI feature vectors.
In order to improve data management flexibility for all of
the APs, each piece of wireless AP data is stored in a separate
table; that is, the number of RSSI data tables is equal to the
number of the wireless APs, and all the tables have the same
structure. Thus RSSI data in the table is consistent with the
array of RSSI data collection grids, as shown in Table 1.
In the table, 𝑚, 𝑛 correspond to the values of the row and
column of the grids, respectively. “MACid” is the primary
key for each record, and C01, C02, . . . , C𝑛 correspond to the
column of RSSI data table; accordingly, Record 01, . . ., and
Record 𝑚 correspond to collection records of RSSI value.
Names of RSSI data table are identified by the wireless APs’
MAC address; for example, if MAC address is “00: 24: b2:
eb: 21: 21,” corresponding RSSI data table will be named
“0024b2eb2121.” To do this, make sure that the data table
names are unique, and the element values of data table are in
correspondence with RSSI values collected in the grids easily.
In practical applications, the number of wireless APs
may appear as changes with equipment damage, updates,
and so forth; to this end, the fingerprint database must be
adjusted. Therefore, only the changed RSSI data tables need
to be updated, and the modification of the database can
be accomplished easily; at the same time, the design of the
database has a good flexibility. In the course of localization,
the RSSI data from all the APs must be queried and read,
and its process from data query to build a fingerprint feature
vector is shown in Figure 3.
In light of the given row and column of the grid ranked by
𝐺𝑖,𝑗 , the RSSI data of 𝐺𝑖,𝑗 from all the tables are queried, and
the corresponding 𝑘-dimensional feature vector of 𝐺𝑖,𝑗 can be
built. Thus the 𝑘-dimensional feature vector can be exported
for real-time location matching.
4. Grids Matching and Localization of
RSSI Fingerprint Feature Vector
4.1. The Localization Algorithm of RSSI Fingerprint Feature
Vector. After a given database, the received wireless AP RSSI
3
RSSI values The number Output A fingerprint
Get
responding to Gi,j of k RSSI feature vector
values construct
from all the tables
value vector will compare with the vectors in the fingerprint
database in terms of certain matching algorithm, and the
mobile location will be estimated. Among them, the matching
algorithm is key to the efficiency and positioning accuracy
of localization. The usual matching algorithms are nearest
. neighbor, 𝐾-nearest neighbor, and neural networks [10]. The
method of vector angle is used in this paper.
Assuming that the observations of received real-time
RSSI vector at the mobile device are 𝑉rt = (RtRSSI1 , RtRSSI2 ,
. . . , RtRSSI𝑘 ) and the fingerprint database has vector 𝑉𝑖,𝑗 =
(RSSI1 , RSSI2 , . . . , RSSI𝑘 ), where 𝑘 represents the number of
detected different wireless APs on the measuring point, 𝑘 ∈
[1, 𝐾𝑇 ], 𝐾𝑇 is the total number of RSSI tables in the finger-
print database, and 𝑉𝑖,𝑗 is on behalf of 𝑘-dimensional vector at
the row 𝑖 and column 𝑗. Therefore, the localization based on
RSSI fingerprint feature vector is transformed to determine
the similarity between real time received observation vector
𝑉rt and the fingerprint feature vector 𝑉𝑖,𝑗 .
4.2. Similarity Matching Based on Vector Cosine. There are
two ways on determination of vector similarity, that is, the
similarity function and distance measurement [11]. Among
them, similarity function is more popular in practical appli-
cations, and the common similarity functions are as follows:
vector cosine method, correlation coefficient, generalized
Dice coefficient, and generalized Jaccard coefficient method.
Vector cosine function is adopted in this paper.
Vector cosine is used to calculate the angle between two
vectors. Assume that the cosine of the angle between two
vectors 𝑥 and 𝑦 is shown in
(𝑥, 𝑦) ∑𝑁
𝑖=1 𝑥𝑖 ⋅ 𝑦𝑖
cos (𝑥, 𝑦) = 󵄩󵄩 󵄩󵄩 = . (1)
‖𝑥‖ ⋅ 󵄩󵄩𝑦󵄩󵄩 (∑ 𝑥2 ⋅ ∑𝑁 𝑦2 )1/2
𝑁
𝑖=1 𝑖 𝑖=1 𝑖
The geometric meaning of vector cosine is character-
ized by the angular dimension between two vectors in
𝑁-dimensional space. Generally, dimensionless treatment
for vector elements is required beforehand, and the vector
elements are made to be positive; then the cosine of the angle
will be at the range of [0, 1]. And the greater the value of the
cosine, the lesser the angle, which shows the larger similarity
between two vectors. If the value is 1, the two vectors are
identical. In addition, the length of the vector is specified in
the formula, which means that the role of some important
part has not been amplified in similarity calculating [12].
In practical application, assume that the real-time RSSI
vector of mobile devices is 𝑉rt , and RSSI fingerprint database
grid vector is 𝑉𝑖,𝑗 , where 𝑖 = 0, 1, . . . , 𝑚, and 𝑗 = 0, 1, . . . , 𝑛,
shown in Figure 4. Then the vector cosine between 𝑉rt with
4 International Journal of Distributed Sensor Networks
...
Gi+1,j−1 Gi+1,j+1
Gi+1,j
Pi+1,j Pi+1,j+1
Vrt
Vi,j
. . . Gi,j−1 Gi,j Gi,j+1 . . .
Pi,j Pi,j+1
Gi−1,j−1 G Gi−1,j+1
.. i−1,j
. range and accuracy, the correct rate of localization by a total
Figure 4: Matching diagram of grids vectors.
all 𝑉𝑖,𝑗 can be calculated separately by using the formula of
vector cosine, shown in
∑𝑘𝑙=1 (𝑉rt )𝑙 ⋅ (𝑉𝑖,𝑗 )𝑙
cos (𝑉rt , 𝑉𝑖,𝑗 ) = . (2)
2 2 1/2
(∑𝑘𝑙=1 (𝑉rt )𝑙 ⋅ ∑𝑘𝑙=1 (𝑉𝑖,𝑗 )𝑙 )
Among them, 𝑘 is the number of APs and also for the
dimension of a grid vector. As to each real-time mobile
localization, the number of 𝑚 × 𝑛 vector angle cosine values
will be calculated and takes the grid with maximum cosine
value as the positioning result.
5. Wireless Localization Experiment for
RSSI Fingerprint Feature Vector
Using Java programming language, the Wi-Fi wireless posi-
tioning system based on RSSI fingerprint feature vectors
has been designed and implemented. Among them, RSSI
data collection for mobile devices is developed in Android
platform, and the collected RSSI data can be stored into
SQLite database in accordance with Section 3.2 in this paper.
Then the data in SQLite is dumped into PostgreSQL database.
Finally, the data management and application services are
developed by the use of Eclipse + Mybatis programming
tools, so the cosine between real-time RSSI vector and
fingerprint feature vector can be calculated, and also the
positioning result corresponding to the largest vector cosine
value can be acquired.
The following scenario is as an example of a gymnasium.
A wireless localization experiment based on RSSI fingerprint
feature vector is made by using this developed program,
and the RSSI collection and distribution of the fingerprint
database in the stadium area are in Figure 5.
As shown in Figure 6, the whole localization area is
divided into grids by the size of 2 m × 2 m, and it comprises
grids by the number of 15 rows × 28 columns; at the same
time, the field RSSI vector data in each grid is collected.
Meanwhile, there are 22 kinds of Wi-Fi signals which can
be received in any of the grids, including China Telecom
and China Mobile, and 20 of them were selected for the
experiment. The results of RSSI data distribution and storage
of the grid with the MAC address of 00: 24: b2: eb: 21: 21
wireless AP are shown in Figure 6.
In this scenario, RSSI value vector of each grid is
selected as real-time reference vector individually and used
to perform vector cosine matching localization. Meanwhile,
in order to check out the positioning results, all kinds of Wi-
Fi signals are divided into three groups of 7 + 7 + 6 in Table 2,
and different RSSI value deviations are given to the elements
of positioned vector, whereby the corresponding different
real-time vectors are obtained. In different RSSI deviation
of 420 grids is shown in Table 2.
As shown in Table 2, (1) when signs of the RSSI value
deviations of the three groups are the same, the larger
deviation of the RSSI value is set, the less correct rate of
positioning accuracy, and the correct rate was significantly
reduced by the deviation value at 11 to 16 (or −11 to −16),
which is 95.7%–66.2% (or 95.2%–67.8%). (2) when signs of
the RSSI value deviations of the three groups are different,
the larger deviation of the RSSI value is set, the less correct
rate of positioning accuracy, and correct rate of positioning
reduced quickly at deviation 2–4, that is, 86.9%–28.3%.
Thus different signs of the deviations influence positioning
accuracy obviously. At the same time, the sign of each
deviation is randomly selected, which may differ from the
actual value change trend of RSSI; (3) in the case of the same
RSSI value deviations, the larger the range of accuracy, the
higher the correct rate of localization.
Under the conditions of the fingerprint database and
the deviations of the real-time RSSI vector elements being
within 10, the correct rate of localization is more than 90%,
which can meet necessity for the mostly actual application.
Meanwhile, with the vector dimension increasing, the correct
rate of localization will be improved to some extent.
At the same time, the computational complexity and cost
have been tested with Lenovo K23, and the results are shown
in Table 3.
As shown in Table 3, with the increase of the times
of localization in scenario of this paper, the computational
complexity and time costs are also increased, and the growth
of time costs is not obvious with the increase of times of
localization.
6. Conclusion
The errors of fitted distance with RSSI values are large,
because they are affected by multipath and other factors
in indoor positioning environment. In this paper, without
fitting distance, also without position of the known APs, the
real-time localization results can be obtained by matching
similarity between real-time RSSI feature vector and different
fingerprint feature vectors. At the same time, with an actual
experiment, good results of localization are achieved.
International Journal of Distributed Sensor Networks 5

Table 2: Localization results based on RSSI fingerprint feature.

Real-time RSSI observations (20 Accuracy range (unit: grid) Times of

deviations with samples training data) real-time Correct grids of
Number localization Correct rate
Row Column localization
7 APs 7 APs 6 APs
deviation deviation
1 1 1 1 0 0 420 420 100%
2 2 2 2 0 0 420 420 100%
3 4 4 4 0 0 420 420 100%
4 7 7 7 0 0 420 418 99.5%
5 11 11 11 0 0 420 402 95.7%
6 13 13 13 0 0 420 369 87.8%
7 13 13 13 1 1 420 378 90%
8 13 13 13 2 2 420 385 91.7%
9 16 16 16 0 0 420 278 66.2%
10 16 16 16 1 1 420 299 71.2%
11 16 16 16 2 2 420 321 76.4%
12 16 16 16 3 3 420 341 81.2%
13 −1 −1 −1 0 0 420 420 100%
14 −2 −2 −2 0 0 420 420 100%
15 −4 −4 −4 0 0 420 420 100%
16 −7 −7 −7 0 0 420 417 99.3%
17 −11 −11 −11 0 0 420 400 95.2%
18 −13 −13 −13 0 0 420 364 86.7%
19 −13 −13 −13 1 1 420 372 88.6%
20 −13 −13 −13 2 2 420 376 89.5%
21 −16 −16 −16 0 0 420 285 67.8%
22 −16 −16 −16 1 1 420 301 71.7%
23 −16 −16 −16 2 2 420 316 75.2%
24 −16 −16 −16 3 3 420 333 79.3%
25 −1 1 −1 0 0 420 420 100%
26 2 2 −2 0 0 420 365 86.9%
27 −4 4 −4 0 0 420 119 28.3%
28 −4 4 −4 2 2 420 186 44.3%
29 −4 4 −4 4 4 420 265 63.1%
30 −7 7 7 0 0 420 28 6.7%
31 −7 7 7 2 2 420 99 23.6%
32 −7 7 7 4 4 420 190 45.2%
33 11 −11 −11 0 0 420 10 2.4%
34 11 −11 −11 2 2 420 58 13.8%
35 11 −11 −11 4 4 420 126 30.0%
36 13 −13 −13 0 0 420 7 1.7%
37 13 −13 −13 2 2 420 44 10.5%
38 13 −13 −13 4 4 420 99 23.6%
39 16 16 −16 0 0 420 18 4.3%
40 16 16 −16 2 2 420 75 17.8%
41 16 16 −16 4 4 420 143 34.0%
6 International Journal of Distributed Sensor Networks

G1501 G1502 G1503 G1504 G1505 G1506 G1507 G1508 G1509 G1510 G1511 G1512 G1513 G1514 G1515 G1516 G1517 G1518 G1519 G1520 G1521 G1522 G1523 G1524 G1525 G1526 G1527 G1528

G1401 G1402 G1403 G1404 G1405 G1406 G1407 G1408 G1409 G1410 G1411 G1412 G1413 G1414 G1415 G1416 G1417 G1418 G1419 G1420 G1421 G1422 G1423 G1424 G1425 G1426 G1427 G1428

G1301 G1302 G1303 G1304 G1305 G1306 G1307 G1308 G1309 G1310 G1311 G1312 G1313 G1314 G1315 G1316 G1317 G1318 G1319 G1320 G1321 G1322 G1323 G1324 G1325 G1326 G1327 G1328

G1201 G1202 G1203 G1204 G1205 G1206 G1207 G1208 G1209 G1210 G1211 G1212 G1213 G1214 G1215 G1216 G1217 G1218 G1219 G1220 G1221 G1222 G1223 G1224 G1225 G1226 G1227 G1228

G1101 G1102 G1103 G1104 G1105 G1106 G1107 G1108 G1109 G1110 G1111 G1112 G1113 G1114 G1115 G1116 G1117 G1118 G1119 G1120 G1121 G1122 G1123 G1124 G1125 G1126 G1127 G1128

G1001 G1002 G1003 G1004 G1005 G1006 G1007 G1008 G1009 G1010 G1011 G1012 G1013 G1014 G1015 G1016 G1017 G1018 G1019 G1020 G1021 G1022 G1023 G1024 G1025 G1026 G1027 G1028

G0901 G0902 G0903 G0904 G0905 G0906 G0907 G0908 G0909 G0910 G0911 G0912 G0913 G0914 G0915 G0916 G0917 G0918 G0919 G0920 G0921 G0922 G0923 G0924 G0925 G0926 G0927 G0928

G0801 G0802 G0803 G0804 G0805 G0806 G0807 G0808 G0809 G0810 G0811 G0812 G0813 G0814 G0815 G0816 G0817 G0818 G0819 G0820 G0821 G0822 G0823 G0824 G0825 G0826 G0827 G0828

G0701 G0702 G0703 G0704 G0705 G0706 G0707 G0708 G0709 G0710 G0711 G0712 G0713 G0714 G0715 G0716 G0717 G0718 G0719 G0720 G0721 G0722 G0723 G0724 G0725 G0726 G0727 G0728

G0601 G0602 G0603 G0604 G0605 G0606 G0607 G0608 G0609 G0610 G0611 G0612 G0613 G0614 G0615 G0616 G0617 G0618 G0619 G0620 G0621 G0622 G0623 G0624 G0625 G0626 G0627 G0628

G0501 G0502 G0503 G0504 G0505 G0506 G0507 G0508 G0509 G0510 G0511 G0512 G0513 G0514 G0515 G0516 G0517 G0518 G0519 G0520 G0521 G0522 G0523 G0524 G0525 G0526 G0527 G0528

G0401 G0402 G0403 G0404 G0405 G0406 G0407 G0408 G0409 G0410 G0411 G0412 G0413 G0414 G0415 G0416 G0417 G0418 G0419 G0420 G0421 G0422 G0423 G0424 G0425 G0426 G0427 G0428

G0301 G0302 G0303 G0304 G0305 G0306 G0307 G0308 G0309 G0310 G0311 G0312 G0313 G0314 G0315 G0316 G0317 G0318 G0319 G0320 G0321 G0322 G0323 G0324 G0325 G0326 G0327 G0328

G0201 G0202 G0203 G0204 G0205 G0206 G0207 G0208 G0209 G0210 G0211 G0212 G0213 G0214 G0215 G0216 G0217 G0218 G0219 G0220 G0221 G0222 G0223 G0224 G0225 G0226 G0227 G0228

G0101 G0102 G0103 G0104 G0105 G0106 G0107 G0108 G0109 G0110 G0111 G0112 G0113 G0114 G0115 G0116 G0117 G0118 G0119 G0120 G0121 G0122 G0123 G0124 G0125 G0126 G0127 G0128

Figure 5: Distribution diagram of RSSI grids in positioning area.

Figure 6: RSSI data storage in database.

Table 3: Computational complexity and cost of wireless localiza- Conflict of Interests

tion.
The authors declare that there is no conflict of interests
Times of Computational times
Time costs (s) regarding the publication of this paper.
localization of vector cosine values
1 420 1
420 176400 2
12600 5292000 12 Acknowledgment
29400 12348000 33
63000 26460000 43 The work was supported by the National Natural Science
105000 44100000 70 Foundation of China (61373147 and 41204032).
International Journal of Distributed Sensor Networks 7

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