Abstract: Methods and systems for localization within an environment include determining a topology estimate of nodes located in a dynamic indoor environment, based on distances measured between the nodes. Rigid k-core sub-graphs of the topology estimate are generated to determine relative localizations of the nodes. Relative localizations are transformed into absolute localizations to generate a map of positions of the nodes within the environment. A feature of the map is deployed to a device in the environment.

Abstract: A computer-implemented method for identifying a device position is provided. The method includes synchronizing a clock between a first device and a second device to obtain a synchronized clock. The method further includes measuring a round-trip time of flight between an antenna from the first device and an antenna from the second device based on the synchronized clock. The method also includes estimating a relative angular position of the second device with respect to the first device based on the round-trip time of flight. The method additionally includes estimating a distance between the first device and the second device based on estimated round-trip time of flight. The method further includes estimating, by the first device, a position of the second device with respect to a known coordinate based on the relative angular position and the distance.

Abstract: Methods and systems for identifying device positions include measuring radio signal strength information between devices. Inertial information is measured for the devices. The radio signal strength information and the inertial information are fused to determine relative locations between the devices. The relative locations are oriented to a fixed anchor node. Elevation is estimated for the plurality of devices using pressure sensor information.

Abstract: Aspects of the present disclosure describe systems, methods, and structures infrastructure-free RF tracking in dynamic indoor environments.

Abstract: Methods and systems for localization within an environment include determining a topology estimate of nodes located in a dynamic indoor environment, based on distances measured between the nodes. Rigid k-core sub-graphs of the topology estimate are generated to determine relative localizations of the nodes. Relative localizations are transformed into absolute localizations to generate a map of positions of the nodes within the environment. A feature of the map is deployed to a device in the environment.

Abstract: Aspects of the present disclosure describe systems, methods, and structures infrastructure-free RF tracking in dynamic indoor environments.