Indoor localization with audible sound — Towards practical implementation

This paper presents an innovative evaluation and comparison of several methods and techniques necessary to implement an indoor localization system based on audible sound. Experiments were conducted in a room with conditions very close to possible practical application demonstrating that time delay estimation using generalized cross-correlation phase transform provides the best estimate to the distance to fixed anchors, and highlight the benefits of a new localization method entitled circle shrinking based on an optimization methodology. Of the three optimization methods tested, Gauss-Newton proves to be the most adequate, and among the three medium access methods evaluated, code division multiple access acoustic transmission provided the best results. A localization system combining these components and using only off-the-shelf hardware reached an average accuracy of 1.3 cm in the central area of the test room with an excitation signal-to-noise ratio as low as 7.2 dB, an almost unperceivable noise like audio signal. These results represent an advance of the state-of-the-art in indoor localization systems, pointing towards the possibility of widespread practical implementation with everyday use components.