Indoor Environment Mapping and Localization Based on a Single Wi-Fi Access Point

Owing to the proliferation of Wi-Fi devices, the employment of Wi-Fi for indoor localization has emerged as the predominant trend within the realm of indoor localization technologies. In this paper, we harness multipath assistance for the purpose of localizing indoor terminals and generating maps. Precisely, Uniform Circular Array (UCA) is deployed at both the Access Point (AP) and the terminal to augment the power of reflection paths. By constructing a triangular geometric configuration with the Angle of Arrival (AoA), Angle of Departure (AoD), and Time of Flight (ToF) of the reflection path as well as the direct path, the localization of the terminal can be accomplished. Subsequently, the localization results are optimized through Extended Kalman Filtering (EKF) tracking. Moreover, by integrating the optimized positional information, the locations of reflectors can be estimated. The positions of these scattering points mirror diverse components of the indoor scene. As the terminal device undergoes movement, more scene information within the indoor environment is acquired. Ultimately, by obtaining a sufficient number of portions of the locations of all scenes and interconnecting them, the generation of an indoor map is achieved. We simulated the indoor environment using the Wireless Insite software and extracted simulation data to verify the proposed system. The outcomes demonstrate that the system has attained a situation where 90% of the localization errors are within 1 meter and the accuracy of the generated map has reached 94.6%.