Institute of New Imaging Technologies, Universitat Jaume I, 12006 Castellón, Spain.
Electrical Engineering Unit, Tampere University, 33014 Tampere, Finland.
Sensors (Basel). 2021 Feb 2;21(3):1002. doi: 10.3390/s21031002.
Research and development in Collaborative Indoor Positioning Systems (CIPSs) is growing steadily due to their potential to improve on the performance of their non-collaborative counterparts. In contrast to the outdoors scenario, where Global Navigation Satellite System is widely adopted, in (collaborative) indoor positioning systems a large variety of technologies, techniques, and methods is being used. Moreover, the diversity of evaluation procedures and scenarios hinders a direct comparison. This paper presents a systematic review that gives a general view of the current CIPSs. A total of 84 works, published between 2006 and 2020, have been identified. These articles were analyzed and classified according to the described system's architecture, infrastructure, technologies, techniques, methods, and evaluation. The results indicate a growing interest in collaborative positioning, and the trend tend to be towards the use of distributed architectures and infrastructure-less systems. Moreover, the most used technologies to determine the collaborative positioning between users are wireless communication technologies (Wi-Fi, Ultra-WideBand, and Bluetooth). The predominant collaborative positioning techniques are Received Signal Strength Indication, Fingerprinting, and Time of Arrival/Flight, and the collaborative methods are particle filters, Belief Propagation, Extended Kalman Filter, and Least Squares. Simulations are used as the main evaluation procedure. On the basis of the analysis and results, several promising future research avenues and gaps in research were identified.
协作式室内定位系统（CIPS）的研究与开发稳步增长，因为它们有可能提高非协作式室内定位系统的性能。与广泛采用全球导航卫星系统的室外场景不同，在（协作式）室内定位系统中，正在使用大量的技术、技术和方法。此外，评估程序和场景的多样性阻碍了直接比较。本文提出了一种系统的综述，全面介绍了当前的 CIPS。共确定了 84 篇 2006 年至 2020 年间发表的作品。根据描述的系统架构、基础设施、技术、技术、方法和评估，对这些文章进行了分析和分类。结果表明，人们对协作定位越来越感兴趣，而且趋势是倾向于使用分布式架构和无基础设施系统。此外，用于确定用户之间协作定位的最常用技术是无线通信技术（Wi-Fi、超宽带和蓝牙）。最常用的协作定位技术是接收信号强度指示、指纹识别和到达/飞行时间，协作方法是粒子滤波器、置信传播、扩展卡尔曼滤波器和最小二乘法。仿真被用作主要的评估程序。基于分析和结果，确定了几个有前途的未来研究方向和研究差距。
