• Publications
  • Influence
A Survey of Indoor Inertial Positioning Systems for Pedestrians
  • R. Harle
  • Computer Science
  • IEEE Communications Surveys & Tutorials
  • 9 January 2013
It is concluded that PDR techniques alone can offer good short- to medium- term tracking under certain circumstances, but that regular absolute position fixes from partner systems will be needed to ensure long-term operation and to cope with unexpected behaviours. Expand
Location Fingerprinting With Bluetooth Low Energy Beacons
  • R. Faragher, R. Harle
  • Computer Science
  • IEEE Journal on Selected Areas in Communications
  • 6 May 2015
This work provides a detailed study of BLE fingerprinting using 19 beacons distributed around a ~600 m2 testbed to position a consumer device, and investigates the choice of key parameters in a BLE positioning system, including beacon density, transmit power, and transmit frequency. Expand
Pedestrian localisation for indoor environments
This paper looks at how a foot-mounted inertial unit, a detailed building model, and a particle filter can be combined to provide absolute positioning, despite the presence of drift in the inertial units and without knowledge of the user's initial location. Expand
Walk detection and step counting on unconstrained smartphones
Of the six different placements, only the back trouser pocket is found to degrade the step counting performance significantly, resulting in undercounting for many algorithms. Expand
An Analysis of the Accuracy of Bluetooth Low Energy for Indoor Positioning Applications
This study investigated the impact of Bluetooth Low Energy devices in advertising/beaconing mode on fingerprint-based indoor positioning schemes. Early experimentation demonstrated that the lowExpand
Bluetooth Tracking without Discoverability
This paper investigates the properties of the low-level Bluetooth connections both theoretically and in practice, and shows how to construct a building-wide tracking system based on this technique. Expand
Sequence-based magnetic loop closures for automated signal surveying
  • Chaoqian Gao, R. Harle
  • Computer Science
  • International Conference on Indoor Positioning…
  • 7 December 2015
Recently progress has been made in semi-automated surveying, where Pedestrian Dead Reckoning algorithms are combined with signal measurements using Simultaneous Localisation and Mapping (SLAM) techniques first developed in robotics. Expand
The potential for location-aware power management
The use of location-awareness to dynamically optimise the energy consumption of an office is explored and high-accuracy location data collected over 60 days randomly selected from a year in a commercial environment is used to evaluate the potential for energy savings and to motivate techniques that might be used. Expand
RF-Based Initialisation for Inertial Pedestrian Tracking
An algorithm in which a map of radio beacon signal strengths is used to solve two of the major problems with the original wearable location system: scalability to large environments and uncertainty due to environmental symmetry. Expand
Assessment of Foot Kinematics During Steady State Running Using a Foot-mounted IMU
The continuous sensing of kinematics provides an opportunity to monitor changes in sporting technique or to aid in injury rehabilitation. Inertial sensors are now small enough to integrate intoExpand