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A novel indoor position tracking algorithm is introduced to provide reliable position estimates by integrating motion sensor-based positioning (i.e., dead-reckoning) and RSS-based fingerprinting positioning with Kalman filter. In the presence of the RSS variation, RSS-based fingerprinting positioning provides unreliable results due to different characteristics of RSS measurements in the offline and online phases, and the tracking performance is degraded. To mitigate the effect of the RSS variation, a recursive least square estimation-based self-calibration algorithm is proposed that estimates the RSS variation parameters and provides the mapping between the offline and online RSS measurements. By combining the Kalman filter-based tracking algorithm with the self-calibration, the proposed algorithm can achieve higher tracking accuracy even in severe RSS variation conditions. Through extensive computer simulations, we have shown that the proposed algorithm outperforms other position tracking algorithms without self-calibration. <\/jats:p>","DOI":"10.1155\/2015\/674635","type":"journal-article","created":{"date-parts":[[2015,8,13]],"date-time":"2015-08-13T21:03:33Z","timestamp":1439499813000},"page":"674635","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":17,"title":["Kalman Filter-Based Indoor Position Tracking with Self-Calibration for RSS Variation Mitigation"],"prefix":"10.1177","volume":"11","author":[{"given":"Sangwoo","family":"Lee","sequence":"first","affiliation":[{"name":"Department of Electronics and Computer Engineering, Hanyang University, Seoul 133-791, Republic of Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bongkwan","family":"Cho","sequence":"additional","affiliation":[{"name":"Korea Railroad Research Institute, Uiwang 437-757, Republic of Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bonhyun","family":"Koo","sequence":"additional","affiliation":[{"name":"Department of Electronics and Computer Engineering, Hanyang University, Seoul 133-791, Republic of Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sanghwan","family":"Ryu","sequence":"additional","affiliation":[{"name":"Korea Railroad Research Institute, Uiwang 437-757, Republic of Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jaehoon","family":"Choi","sequence":"additional","affiliation":[{"name":"Department of Electronics and Computer Engineering, Hanyang University, Seoul 133-791, Republic of Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sunwoo","family":"Kim","sequence":"additional","affiliation":[{"name":"Department of Electronics and Computer Engineering, Hanyang University, Seoul 133-791, Republic of Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2015,8,13]]},"reference":[{"key":"B1-2015-674635","doi-asserted-by":"publisher","DOI":"10.1109\/SURV.2009.090103"},{"key":"B2-2015-674635","volume-title":"Proceedings of the International Signal Processing Conference and Global Signal Processing Expo","author":"Guvenc I."},{"key":"B3-2015-674635","doi-asserted-by":"publisher","DOI":"10.1109\/vtcf.2006.585"},{"key":"B4-2015-674635","doi-asserted-by":"publisher","DOI":"10.1109\/ipin.2011.6071921"},{"key":"B5-2015-674635","doi-asserted-by":"publisher","DOI":"10.1109\/tmc.2012.175"},{"key":"B6-2015-674635","doi-asserted-by":"publisher","DOI":"10.1109\/tmc.2009.141"},{"key":"B7-2015-674635","doi-asserted-by":"publisher","DOI":"10.1109\/jsen.2014.2330573"},{"key":"B8-2015-674635","doi-asserted-by":"publisher","DOI":"10.1016\/j.pmcj.2012.12.003"},{"key":"B9-2015-674635","doi-asserted-by":"publisher","DOI":"10.1007\/s11276-004-4755-8"},{"key":"B10-2015-674635","doi-asserted-by":"publisher","DOI":"10.1109\/TENCON.2014.7022430"},{"key":"B11-2015-674635","doi-asserted-by":"publisher","DOI":"10.1080\/17489725.2013.816792"},{"key":"B12-2015-674635","volume-title":"Proceedings of the IEEE IPIN","author":"Laoudias C."},{"key":"B13-2015-674635","first-page":"70","volume-title":"Proceedings of the 10th Annual International Conference on Mobile Computing and Networking (MobiCom \u203204)","author":"Haeberlen A."},{"key":"B14-2015-674635","doi-asserted-by":"publisher","DOI":"10.1109\/wcnc.2005.1424879"},{"key":"B15-2015-674635","doi-asserted-by":"publisher","DOI":"10.1109\/ipin.2010.5646207"},{"key":"B16-2015-674635","doi-asserted-by":"publisher","DOI":"10.1109\/tmc.2011.193"},{"key":"B17-2015-674635","doi-asserted-by":"publisher","DOI":"10.1007\/s11036-008-0139-0"},{"key":"B18-2015-674635","doi-asserted-by":"publisher","DOI":"10.1007\/11752967_3"},{"key":"B19-2015-674635","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCC.2007.905750"},{"key":"B20-2015-674635","doi-asserted-by":"publisher","DOI":"10.1088\/0957-0233\/20\/1\/015203"},{"key":"B21-2015-674635","volume-title":"Using the ADXL202 in Pedometer and Personal Navigation Applications","author":"Weinberg H.","year":"2002"},{"key":"B22-2015-674635","volume-title":"Proceedings of the 13th Annual Post Graduate Symposium on the Convergence of Telecommunications, Networking and Broadcasting","author":"Ayub S."},{"key":"B23-2015-674635","volume-title":"Lessons in Estimation Theory for Signal Processing, Communications, and Control","author":"Mendel J. 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