Driver assistance and vehicular automation would greatly benefit from uninterrupted lane-level vehicle positioning, especially in challenging environments like metropolitan cities. In this paper, we explore whether the WiFi Fine Time Measurement (FTM) protocol, with its robust, accurate ranging capability, can complement current GPS and odometry systems to achieve lane-level positioning in urban canyons. We introduce Wi-Go, a system that simultaneously tracks vehicles and maps WiFi access point positions by coherently fusing WiFi FTMs, GPS, and vehicle odometry information together. Wi-Go also adaptively controls the FTM messaging rate from clients to prevent high bandwidth usage and congestion, while maximizing the tracking accuracy. Wi-Go achieves lane-level vehicle positioning (1.3 m median and 2.9 m 90-percentile error), an order of magnitude improvement over vehicle built-in GPS, through vehicle experiments in the urban canyons of Manhattan, New York City, as well as in suburban areas (0.8 m median and 3.2 m 90-percentile error).

This paper explores the feasibility of localizing and detecting activities of building occupants using visible light sensing across a mesh of light bulbs. Existing Visible Light activity sensing (VLS) techniques require either light sensors to be deployed on the floor or a person to carry a device. Our approach integrates photosensors with light bulbs and exploits the light reflected off the floor to achieve an entirely device-free and light source based system. This forms a mesh of virtual light barriers across networked lights to track shadows cast by occupants. The design employs a synchronization circuit that implements a time division signaling scheme to differentiate between light sources and a sensitive sensing circuit to detect small changes in weak reflections. Sensor readings are fed into indoor supervised tracking algorithms as well as occupancy and activity recognition classifiers. Our prototype uses modified off-the-shelf LED flood light bulbs and is installed in a typical office conference room. We evaluate the performance of our system in terms of localization, occupancy estimation and activity classification, and find a 0.89m median localization error as well as 93.7% and 93.78% occupancy and activity classification accuracy, respectively.

Academic and industry research has argued for supporting WiFi time-of-flight measurements to improve WiFi localization. The IEEE 802.11-2016 now includes a Fine Time Measurement (FTM) protocol for WiFi ranging, and several WiFi chipsets offer hardware support albeit without fully functional open software. This paper introduces an open platform for experimenting with fine time measurements and a general, repeatable, and accurate measurement framework for evaluating time-based ranging systems. We analyze the key factors and parameters that affect the ranging performance and revisit standard error correction techniques for WiFi time-based ranging system. The results confirm that meter-level ranging accuracy is possible as promised, but the measurements also show that this can only be consistently achieved in low-multipath environments such as open outdoor spaces or with denser access point deployments to enable ranging at or above 80 MHz bandwidth.