WiFi RSSI Indoor Localization

A reliable and comprehensive public WiFi fingerprinting database for researchers to implement and compare the indoor localization’s methods.The database contains RSSI information from 6 APs conducted in different days with the support of autonomous robot.We use an autonomous robot to collect the WiFi fingerprint data. Our 3-wheel robot has multiple sensors including wheel odometer, an inertial measurement unit (IMU), a LIDAR, sonar sensors and a color and depth (RGB-D) camera. The robot can navigate to a target location to collect WiFi fingerprints automatically. The localization accuracy of the robot is 0.07 m ± 0.02 m. The dimension of the area is 21 m × 16 m. It has three long corridors. There are six APs and five of them provide two distinct MAC address for 2.4- and 5-GHz communications channels, respectively, except for one that only operates on 2.4-GHz frequency. There is one router can provide CSI information.本数据库为一款可靠且全面的公开WiFi指纹数据库，供研究人员实现与对比各类室内定位方法。数据库包含6个无线接入点（Access Point, AP）在不同日期采集的接收信号强度指示（Received Signal Strength Indicator, RSSI）数据，采集过程依托自主移动机器人完成。本次数据采集由自主移动机器人开展，我们所使用的三轮机器人搭载多种传感器，包括轮式里程计、惯性测量单元（Inertial Measurement Unit, IMU）、激光雷达（LiDAR）、超声传感器以及彩色深度（RGB-D）相机。该机器人可自动导航至目标位置采集WiFi指纹数据，自身定位精度可达0.07 m ± 0.02 m。数据采集区域尺寸为21 m × 16 m，包含三条长走廊。本次采集共涉及6个无线接入点，其中5个分别针对2.4 GHz与5 GHz通信频段提供两个不同的媒体访问控制地址（Media Access Control Address, MAC），剩余1个仅工作在2.4 GHz频段。另有1台路由器可提供信道状态信息（Channel State Information, CSI）。