In the modern society, almost everyone has a smartphone. These devices tend to almost always use WiFi-networking. For the device to identify nearby WiFi access points it has to send out WiFi probing broadcasts. Nearby access points respond to these broadcasts in order to let the device know that they are within reach. This technique is called active scanning. This paper aims to answer if it is possible to use the signal strength of these broadcasts to localize the device transmitting them. We are interested in the possibility of creating this kind of system and the accuracy that it would be able to provide. This is a quantitative study where we produce our results based on experiments, measurements and observations. The experiments are set in a large square shaped area. A sensor was placed at each corner of the area that the smartphone will be tracked within. The smartphone will be sending WiFi probing broadcasts that will be monitored and measured by the sensors. The strength of the broadcast signal will be converted into the relative distance between the devices position and the sensors. These four distances, collected from each of the sensors, will further be converted into a position within the area by using trilateration. To measure the accuracy of the system, the true position of the device will be compared against the calculated position from the system using only the signal strength. Further, a deviation in the distance between the two locations will be calculated. The experiments resulted in a positioning system that was able to estimate positions within an 80 x 80m area. Fourteen location positions were taken which resulted in a mean deviation of 16.6 meters from the true location and a root mean squared error of 19.5 meters. We concluded that more readings within the same position gave a significant increase in accuracy, to the expense of time. Using single measurements would be more practical, but would not produce reliable positions. Keywords: WiFi, Probe Broadcast, Local Positioning System, Trilateration, RSSI.

In situations where we want to use mixed reality systems over larger areas, it is necessary for these systems to maintain a correct orientation with respect to the real world. A solution for synchronizing the mixed reality and the real world over time is therefore essential to provide a good user experience. This thesis proposes such a solution, utilizing both a local positioning system named WISPR using Ultra Wide Band technology and an internal positioning system based on Google ARCore utilizing feature tracking. This is done by presenting a prototype mobile application utilizing the positions from these two positioning systems to align the physical environment with a corresponding virtual 3D-model. This enables increased environmental awareness by displaying virtual objects in accurately placed locations in the environment that otherwise are difficult or impossible to observe. Two transformation algorithms were implemented to align the physical environment with the corresponding virtual 3D-model: Singular Value Decomposition and Orthonormal Matrices. The choice of algorithm showed minimal effect on both positional accuracy and computational cost. The most significant factor influencing the positional accuracy was found to be the quality of sampled position pairs from the two positioning systems. The parameters used to ensure high quality for the sampled position pairs were the LPS accuracy threshold, sampling frequency, sampling distance, and sample limit. A fine-tuning process of these parameters is presented and resulted in a mean Euclidean distance error of less than 10 cm to a predetermined path in a sub-optimal environment. The aim of this thesis was not only to achieve high positional accuracy but also to make the application usable in environments such as mines, which are prone to worse conditions than those able to be evaluated in the available test environment. The design of the application, therefore, focuses on robustness and being able to handle connection losses from either positioning system. The resulting implementation can detect a connection loss, determine if the loss is destructive enough through performing quality checking of the transformation, and with this can apply both essential recovery actions and identify when such a recovery is deemed unnecessary.

Ein Ziel der Arbeit war die Entwicklung eines Verfahrens zur 3D-Positionierung auf Basis elektrooptischer Pseudostreckenmessung. Ein zweites Ziel war die Entwicklung eines Reflexgoniometers zur zweiachsigen Winkelmessung. Im Rahmen der Arbeit wurden die Grundlagen zur instrumentellen Umsetzung beider Verfahren erarbeitet, die Genauigkeitspotentiale ermittelt und mögliche Anwendungen für die einzelnen Schlüsseltechnologien und deren Kombination abgeleitet. In einer Prototyp-Entwicklung wurden Vorschläge für die wesentlichen Funktionselemente des räumlichen Weg- bzw. Winkelmesssystems gemacht. Hierzu gehören das kardanisch aufgehängte Etalon, die temperaturstabilisierte Laseroptik und die temperaturkalibrierte CCD der Winkelmesseinheit (Reflexgoniometer), die Systeme zur Erzeugung und Detektion ultrakurzer Laserpulse, eine elastische Optik, Möglichkeiten zur Formung des transversalen Strahlprofils, das TCSPC-System und die zur Auswertung und Kalibrierung notwendigen Algorithmen, wie z.B. die Autokollimation eines Lasers. ("Veröffentlicht von der Deutschen Geodätischen Kommission Reihe C (Dissertationen) unter der Nummer C 614 (München 2008; ISBN 3 7696 5053 0; 2; 144 S.") / One goal of the thesis was the development of a method for three-dimensional positioning based on electro-optical measurement of pseudo ranges. Another goal was the development of a reflex goniometer for biaxial angle measurement. Within the scope of this thesis the basics for the instrumental realisation of both methods were developed, the accuracy potentials were determined and possible applications for the separate key technologies and their combination were deduced. In a prototype development proposals were made for the main functional elements of the spatial distance and angle measurement systems. These include the gimbal mounted etalon, the temperature stabilised laser optics and the temperature calibrated CCD of the angle measurement device (reflex goniometer), the systems for creation and detection of ultrashort laser pulses, an elastic optical device, possibilities of transversal beam shaping, the TCSPC system and the algorithms which are necessary for analysis and calibration, e.g. the autocollimation of a laser.

Ein Ziel der Arbeit war die Entwicklung eines Verfahrens zur 3D-Positionierung auf Basis elektrooptischer Pseudostreckenmessung. Ein zweites Ziel war die Entwicklung eines Reflexgoniometers zur zweiachsigen Winkelmessung. Im Rahmen der Arbeit wurden die Grundlagen zur instrumentellen Umsetzung beider Verfahren erarbeitet, die Genauigkeitspotentiale ermittelt und mögliche Anwendungen für die einzelnen Schlüsseltechnologien und deren Kombination abgeleitet. In einer Prototyp-Entwicklung wurden Vorschläge für die wesentlichen Funktionselemente des räumlichen Weg- bzw. Winkelmesssystems gemacht. Hierzu gehören das kardanisch aufgehängte Etalon, die temperaturstabilisierte Laseroptik und die temperaturkalibrierte CCD der Winkelmesseinheit (Reflexgoniometer), die Systeme zur Erzeugung und Detektion ultrakurzer Laserpulse, eine elastische Optik, Möglichkeiten zur Formung des transversalen Strahlprofils, das TCSPC-System und die zur Auswertung und Kalibrierung notwendigen Algorithmen, wie z.B. die Autokollimation eines Lasers. ("Veröffentlicht von der Deutschen Geodätischen Kommission Reihe C (Dissertationen) unter der Nummer C 614 (München 2008; ISBN 3 7696 5053 0; 2; 144 S.") / One goal of the thesis was the development of a method for three-dimensional positioning based on electro-optical measurement of pseudo ranges. Another goal was the development of a reflex goniometer for biaxial angle measurement. Within the scope of this thesis the basics for the instrumental realisation of both methods were developed, the accuracy potentials were determined and possible applications for the separate key technologies and their combination were deduced. In a prototype development proposals were made for the main functional elements of the spatial distance and angle measurement systems. These include the gimbal mounted etalon, the temperature stabilised laser optics and the temperature calibrated CCD of the angle measurement device (reflex goniometer), the systems for creation and detection of ultrashort laser pulses, an elastic optical device, possibilities of transversal beam shaping, the TCSPC system and the algorithms which are necessary for analysis and calibration, e.g. the autocollimation of a laser.