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ContentsChapter 1 Introduction 11.1 Application Scenarios of Positioning and Navigation 11.2 Brief History of Indoor Positioning and Navigation 31.3 Overview of the Book 7References 8Chapter 2 Major Signal Parameters 102.1 Introduction 102.2 Received Signal Strength 112.3 Time of Arrival 122.3.1 Effect of Bandlimiting 132.3.2 Multipath Effect 132.3.3 Special Acoustic Signal 152.4 Angle of Arrival 162.4.1 Signal Processing for AOA Estimation 162.4.2 Beamforming for Signal Processing 162.4.3 TDOA for AOA Estimation 182.5 Range 182.5.1 Round-Trip Time-Based Ranging 182.5.2 TDOA-Based Ranging 202.5.3 RSS-Based Ranging 202.5.4 Pseudorange 212.6 INS Parameters 222.6.1 Acceleration 222.6.2 Turning Rate 232.7 Carrier Phase 242.8 Frequency Offset 242.9 Internal Radio Delay 252.10 Signal-to-Noise Ratio 26References 27Chapter 3 MEMS Sensor and Pedestrian Dead Reckoning 293.1 MEMS Technology 293.1.1 Introduction to MEMS 293.1.2 History of MEMS Technology 293.1.3 Application of MEMS Technology 313.2 MEMS Accelerometer and Gyroscope 373.2.1 MEMS Micro Accelerometer 373.2.2 MEMS Gyroscope 413.3 Pedestrian Dead Reckoning 443.3.1 Basic Principles 453.3.2 Example 49References 51Chapter 4 RFID Indoor Localization Techniques 534.1 Introduction 534.2 Localization Based on Improved Ranging Method 544.2.1 Ranging Algorithm Based on Similarity Analysis 544.2.2 Experimental Results 564.3 Localization based on Residual Weighted Multi-Dimensional Scaling 574.3.1 Weighted Multi-Dimensional Scaling Algorithm 584.3.2 Simulation and Discussion 604.4 Localization based on Convex Optimization 604.5 Localization based on Improved Fingerprinting 624.5.1 Basic Principle and Structure 634.5.2 Localization Scene 634.5.3 Dimensionality Reduction based on PCA 644.5.4 Clustering Based on K-Means 654.5.5 Simulation Result and Discussion 664.6 Localization based on Crowdsourcing 694.6.1 Fingerprint Database Construction Algorithm 704.6.2 Clustering Based on LVQ 704.6.3 Dimension Reduction based on MDS 714.6.4 Simulation Results 72References 74Chapter 5 Precise Positioning Using Terrestrial Ranging Technology 775.1 Introduction 775.1.1 Overview of the Terrestrial Ranging Technology 775.1.2 Measurements and Measurement Equations 795.2 Terrestrial-Based On-The-Fly Positioning Method 815.2.1 Dynamic Model 815.2.2 Measurement Model 825.2.3 Calculation of Approximate Initial State 835.2.4 Experiment and Result Analysis 835.3 Indoor Positioning and Attitude Determination using New Terrestrial Ranging Signals 885.3.1 Multipath Mitigation Technology 885.3.2 Locata Position and Attitude Computation Model 905.3.3 Locata PAMS Mechanization 915.3.4 Experiment and Analyses 935.4 Terrestrial Augmented GNSS Precise Point Positioning Method for Kinematic Application 985.4.1 Single-Differenced GNSS Precise Point Positioning 985.4.2 Terrestrial Augmented PPP-GNSS System 1015.4.3 Experiment and Result Analysis 103References 109Chapter 6 Ultra-Wideband-Based Indoor Localization 1126.1 Introduction 1126.2 Ultra-Wideband Signal 1136.2.1 Definition of Ultra-Wideband 1136.2.2 Advantages of Ultra-Wideband-Based Indoor Localization 1146.3 Ultra-wideband Location Estimation 1156.3.1 Overview 1156.3.2 Basic Theory of Location Estimation 1166.3.3 Non-Cooperative and Cooperative Localization Network 1186.4 Location Error Analysis 1186.4.1 Offset from TOA Estimation Technique 1196.4.2 Measurement Error 1206.4.3 NLOS Propagation 1216.4.4 Offset from Non-Linear Least Squares Algorithm 1236.5 Integrated with Inertial Navigation System 1246.5.1 UWB and INS Integration Schemes 1256.5.2 Three Issues in UWB/INS Integration 1276.6 Case Studies 1306.6.1 UWB Indoor Localization 1306.6.2 UWB/INS Tightly-Coupled Integration for Localization 132References 135Chapter 7 Indoor Positioning Technology Based on LED Visible Lights 1377.1 Introduction 1377.2 Principle and Composition 1387.2.1 Basic Principle 1387.2.2 Composition of System 1397.3 Encoding and Identification of Information 1417.3.1 Encoding of information 1417.3.2 Identification of Information 1427.4 Positioning Methods 1437.4.1 The Nearest Neighbor Method 1437.4.2 Geometric Analytic Method 1447.4.3 Scenario Analysis 1487.4.4 Camera-Based Positioning Method 1497.5 Experiments and Results 1507.5.1 Experimental System and Environment 1517.5.2 Experimental Procedures 1537.5.3 Experimental Results 153References 156Chapter 8 Positioning Based on Geomagnetic Field 1588.1 Properties of Geomagnetic Field 1588.1.1 Basic Compositions 1588.1.2 Basic El