Dynamic Radio Map Construction With Minimal Manual Intervention: A State Space Model-Based Approach With Imitation Learning

Fingerprint localization methods typically require a substantial amount of manual effort to collect fingerprint data from various scenarios to construct an accurate radio map. While some existing research has attempted to use path planning strategies to save on labor costs, these approaches often suffer from being time-consuming and prone to locally optimal solutions. To address these shortcomings, our paper proposes a novel approach that utilizes imitation learning to construct and update a highly accurate radio map with minimal manual intervention in dynamic environments. Specifically, we employ a multivariate Gaussian process model to fit a rough standby fingerprint database with only a few pilot data points. We then utilize a state space model to calculate the variation range of the pilot data, which forms the CSI error band used to filter the rough radio map. Imitation learning and a confidence coefficient are utilized to predict and calibrate the global CSI data distribution. And we utilize the K-nearest neighbor algorithm to achieve the real-time localization function. Experimental results show that our proposed algorithm outperforms several state-of-the-art approaches in most test cases, exhibiting low computation complexity, lower localization error, and saving 73.3% of the manual workload.