RF fingerprinting can solve the indoor positioning problem with satisfactory accuracy, but the methodology depends on the so-called radio map calibrated in the offline phase via manual site-survey, which is costly, time-consuming and somewhat error-prone. It also assumes the RF fingerprint’s signal-spatial correlations to remain static throughout the online positioning phase, which generally does not hold in practice. This is because indoor environments constantly experience dynamic changes, causing the radio signal strengths to fluctuate over time, which weakens the signal-spatial correlations of the RF fingerprints. State-of-the-arts have proposed adaptive RF fingerprint methodology capable of calibrating the radio map in real-time and on-demand to address these drawbacks. However, existing implementations are highly server-centric, which is less robust, does not scale well, and not privacy-friendly. This thesis aims to address these drawbacks by exploring the feasibility of implementing an adaptive RF fingerprint indoor positioning system in a distributed and client-centric architecture using only commodity Wi-Fi hardware, so it can seamlessly integrate with existing Wi-Fi network and allow it to offer both networking and positioning services. Such approach has not been explored in previous works, which forms the basis of this thesis’ main contribution. The proposed methodology utilizes a network of distributed location beacons as its reference infrastructure; hence the system is more robust since it does not have any single point-of-failure. Each location beacon periodically broadcasts its coordinate to announce its presence in the area, plus coefficients that model its real-time RSS distribution around the transmitting antenna. These coefficients are constantly self-calibrated by the location beacon using empirical RSS measurements obtained from neighbouring location beacons in a collaborative fashion, and fitting the values using path loss with log-normal shadowing model as a function of inter-beacon distances while minimizing the error in a least-squared sense. By self-modelling its RSS distribution in real-time, the location beacon becomes aware of its dynamically fluctuating signal levels caused by physical, environmental and temporal characteristics of the indoor environment. The implementation of this self-modelling feature on commodity Wi-Fi hardware is another original contribution of this thesis. Location discovery is managed locally by the clients, which means the proposed system can support unlimited number of client devices simultaneously while also protect user’s privacy because no information is shared with external parties. It starts by listening for beacon frames broadcasted by nearby location beacons and measuring their RSS values to establish the RF fingerprint of the unknown point. Next, it simulates the reference RF fingerprints of predetermined points inside the target area, effectively calibrating the site’s radio map, by computing the RSS values of all detected location beacons using their respective coordinates and path loss coefficients embedded inside the received beacon frames. Note that the coefficients model the real-time RSS distribution of each location beacon around its transmitting antenna; hence, the radio map is able to adapt itself to the dynamic fluctuations of the radio signal to maintain its signal-spatial correlations. The final step is to search the radio map to find the reference RF fingerprint that most closely resembles the unknown sample, where its coordinate is returned as the location result. One positioning approach would be to first construct a full radio map by computing the RSS of all detected location beacons at all predetermined calibration points, then followed by an exhaustive search over all reference RF fingerprints to find the best match. Generally, RF fingerprint algorithm performs better with higher number of calibration points per unit area since more locations can be classified, while extra RSS components can help to better distinguish between nearby calibration points. However, to calibrate and search many RF fingerprints will incur substantial computing costs, which is unsuitable for power and resource limited client devices. To address this challenge, this thesis introduces a novel algorithm suitable for client-centric positioning as another contribution. Given an unknown RF fingerprint to solve for location, the proposed algorithm first sorts the RSS in descending order. It then iterates over this list, first selecting the location beacon with the strongest RSS because this implies the unknown location is closest to the said location beacon. Next, it computes the beacon’s RSS using its path loss coefficients and coordinate information one calibration point at a time while simultaneously compares the result with the measured value. If they are similar, the algorithm keeps this location for subsequent processing; else it is removed because distant points relative to the unknown location would exhibit vastly different RSS values due to the different site-specific obstructions encountered by the radio signal propagation. The algorithm repeats the process by selecting the next strongest location beacon, but this time it only computes its RSS for those points identified in the previous iteration. After the last iteration completes, the average coordinate of remaining calibration points is returned as the location result. Matlab simulation shows the proposed algorithm only takes about half of the time to produce a location estimate with similar positioning accuracy compared to conventional algorithm that does a full radio map calibration and exhaustive RF fingerprint search. As part of the thesis’ contribution, a prototype of the proposed indoor positioning system is developed using only commodity Wi-Fi hardware and open-source software to evaluate its usability in real-world settings and to demonstrate possible implementation on existing Wi-Fi installations. Experimental results verify the proposed system yields consistent positioning accuracy, even in highly dynamic indoor environments and changing location beacon topologies.

The focus of this study was to investigate an alternative and more cost effective solution for occupancy sensing in commercial office buildings. The intended purpose of this solution is to aid in efficient energy management. The main requirements were that the proposed solution made use of existing infrastructure only, and provided a means to focus on occupant location. This research was undertaken due to current solutions making use of custom occupancy sensors that are relatively costly and troublesome to implement. These solutions focus mainly on monitoring environmental changes, and not the physical locations of the occupants themselves. Furthermore, current occupancy sensing solutions are unable to provide proximity and timing information that indicate how far an occupant is located from a specific area, or how long the occupant resided there. The research question was answered by conducting a proof of concept study with data simulated in the OMNeT++ environment in conjunction with the MiXiM framework for wireless networks. The proposed solution investigated the fidelity of existing WiFi infrastructure for occupancy sensing, this entailed the creation of a Virtual Occupancy Sensor (VOS) that implemented RSS-based localisation for an occupant’s WiFi devices. Localisation was implemented with three different location estimation techniques; these were trilateration, constrained nearest neighbour RF mapping and unconstrained nearest neighbour RF mapping. The obtained positioning data was interpreted by a developed intelligent agent that was able to transform this regular position data into relevant occupancy information. This information included a distance from office measurement and an occupancy result that can be interpreted by existing energy management systems. The accuracy and operational behaviour of the developed VOS were tested with various scenarios. Sensitivity analysis and extreme condition testing were also conducted. Results showed that the constrained nearest neighbour RF mapping approach is the most accurate, and is best suited for occupancy determination. The created VOS system can function correctly with various tested sensitivities and device loads. Furthermore results indicated that the VOS is very accurate in determining room level occupancy although the accuracy of the position coordinate estimations fluctuated considerably. The operational behaviour of the VOS could be validated for all investigated scenarios. It was determined that the developed VOS can be deemed fit for its intended purpose, and is able to give indication to occupant proximity and movement timing. The conducted research confirmed the fidelity of WiFi infrastructure for occupancy sensing, and that the developed VOS can be considered a viable and cost effective alternative to current occupancy sensing solutions. / MIng (Computer and Electronic Engineering), North-West University, Potchefstroom Campus, 2014

The focus of this study was to investigate an alternative and more cost effective solution for occupancy sensing in commercial office buildings. The intended purpose of this solution is to aid in efficient energy management. The main requirements were that the proposed solution made use of existing infrastructure only, and provided a means to focus on occupant location. This research was undertaken due to current solutions making use of custom occupancy sensors that are relatively costly and troublesome to implement. These solutions focus mainly on monitoring environmental changes, and not the physical locations of the occupants themselves. Furthermore, current occupancy sensing solutions are unable to provide proximity and timing information that indicate how far an occupant is located from a specific area, or how long the occupant resided there. The research question was answered by conducting a proof of concept study with data simulated in the OMNeT++ environment in conjunction with the MiXiM framework for wireless networks. The proposed solution investigated the fidelity of existing WiFi infrastructure for occupancy sensing, this entailed the creation of a Virtual Occupancy Sensor (VOS) that implemented RSS-based localisation for an occupant’s WiFi devices. Localisation was implemented with three different location estimation techniques; these were trilateration, constrained nearest neighbour RF mapping and unconstrained nearest neighbour RF mapping. The obtained positioning data was interpreted by a developed intelligent agent that was able to transform this regular position data into relevant occupancy information. This information included a distance from office measurement and an occupancy result that can be interpreted by existing energy management systems. The accuracy and operational behaviour of the developed VOS were tested with various scenarios. Sensitivity analysis and extreme condition testing were also conducted. Results showed that the constrained nearest neighbour RF mapping approach is the most accurate, and is best suited for occupancy determination. The created VOS system can function correctly with various tested sensitivities and device loads. Furthermore results indicated that the VOS is very accurate in determining room level occupancy although the accuracy of the position coordinate estimations fluctuated considerably. The operational behaviour of the VOS could be validated for all investigated scenarios. It was determined that the developed VOS can be deemed fit for its intended purpose, and is able to give indication to occupant proximity and movement timing. The conducted research confirmed the fidelity of WiFi infrastructure for occupancy sensing, and that the developed VOS can be considered a viable and cost effective alternative to current occupancy sensing solutions. / MIng (Computer and Electronic Engineering), North-West University, Potchefstroom Campus, 2014