Radio map construction based on BERT for fingerprint-based indoor positioning system

Due to the heavy workload of RSS collection, the instability of WLAN signal strength and the disappearance of signals caused by complex indoor environments, the construction of radio map for wireless local area network (WLAN) fingerprint-based indoor positioning system is time-consuming and laborious. In order to rapidly deploy indoor WLAN positioning system, the bidirectional encoder representation from transformers (BERT) model is used to fill the missing signal in radio map and quickly build radio map. The radio map is imported into the BERT model in the form of natural language text, and the missing signal is filled by the BERT model. Since the number of input data in BERT model cannot exceed 512 words, the structure of BERT model is not suitable for WLAN signals with large data volume. Therefore, we redefine the model structure based on the original BERT model and fill in the missing signals in the radio map in parallel. In addition, the loss function is redefined. Except that each segment has a loss function, the weighted average value of all segment loss functions is defined as the total loss function. The experimental results show that the BERT model is better than the traditional linear interpolation method, compressed sensing algorithm and matrix completion algorithm in filling the missing signals in the fingerprint database, and the probability of error within 2 m reaches about 94%.