Integrated Positioning Error Bound Analysis and AP Motion State Detection for Indoor Wi-Fi Localization

In indoor positioning environment, the existence of mobile Access Points (APs) has a potential risk in localization effectiveness. To address this problem, we first analogize the process of localization into the process of information propagation in a communication system to obtain the analytical result of localization error bound under the interference of both environment noise and mobile APs. Second, we propose a joint judgment criterion which consists of two judgment sub-criteria to judge the state of each hearable AP. Finally, the extensive experimental results demonstrate that the proposed approach can precisely detect mobile APs and preserve a satisfactory localization performance.