Patent ID: 8022876

Claim:
An indoor localization method to be implemented using an indoor localization system that includes a plurality of beacons deployed in an indoor space and each periodically transmitting a localization signal, and a radio badge carried by a tracked target for receiving the localization signals from the beacons, said indoor localization method comprising: (a) configuring the beacons to transmit the localization signals thereof asynchronously; (b) during a training phase, forming a plurality of first signal vectors respectively from the localization signals received by the radio badge at each of predetermined locations in the indoor space, and generating a signal ID value from the first signal vectors for each of the beacons from which the radio badge has received the localization signals; (c) during a tracking phase, again forming a plurality of second signal vectors respectively from the localization signals received by the radio badge at a current location of the tracked target in the indoor space; and (d) calculating a plurality of distances between the second signal vectors formed during the tracking phase and corresponding to the current location, and the signal ID values corresponding to the predetermined locations; generating a plurality of reference values by dividing each of the distances by the number of the second signal vectors formed during the tracking phase; obtaining a plurality of target values from a subset of the reference values including a predetermined number of the smallest reference values; and obtaining an estimated position of the radio badge by weighted average processing using the target values.