Indoor Positioning Using the OpenHPS Framework

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The OpenHPS framework is an open source hybrid positioning system that allows for flexibility in technologies, algorithms, use cases, and output. It features a process network design that connects different positioning techniques and data sources. The framework includes core components, abstractions, data storage options, and communication abilities. It was demonstrated through an indoor positioning use case and validated for accuracy and effectiveness. OpenHPS aims to support developers and researchers in indoor positioning applications.

Indoor Positioning Using the
OpenHPS Framework
Maxim Van de Wynckel, Beat Signer
Web & Information Systems Engineering Lab
Vrije Universiteit Brussel
1

What is OpenHPS?
An Open Source Hybrid Positioning System
2

What is OpenHPS?
An Open Source Hybrid Positioning System
► Any technology
► Any algorithm
► Various use cases
► Flexibile processing and output
⬛ Accuracy over battery consumption, reliability, ...
► Aimed towards
⬛ Developers
⬛ Researchers
3

Process Network Design ...
IMU Sensor
...
IMU
Source
PDR
Processing
Display
Position
... ...
Merge
Frames
5

Process Network Design ...
IMU
Source
PDR
Processing
Save
Display
Position
Load
... ...
Merge
Frames
Data
Service
6

Modularity
Core Component
Positioning Techniques
(e.g. fingerprinting)
Abstractions
(e.g. location-based services)
Data Storage
(e.g. MongoDB)
Communication
(e.g. socket connection)
7

Data Processing
Processed Data
Knowledge Raw Data
8

Absolute and Relative Positions
Absolute
► 2D, 3D, Geographical, ...
Relative
► Distance, angle, velocity, ...
► Relative to another object
10

DataFrame
VideoDataFrame
source
CameraObject
uid: "camera",
position: {
x: 2, y: 5, z: 3
},
projection: ...,
width: 1280,
height: 1024
Image
DataObject
Detected
object
DataObject
Detected
object
DataObject
Detected
object
uid timestamp
11

SymbolicSpace
An object that semantically defines a space
► Spatial hierarchy
► Graph connectivity with other spaces
► Geocoding
► GeoJSON compatibility
► Can be used as a location
► Can be extended ...
12

Location-based Service
Location-based
Service
getCurrentPosition("me", ...)
Sink
Processing
Fusion
Storage
Source Processing
Source
13

Location-based Service ...
Location-based
Service
watchPosition("me", ...)
Sink
Processing
Fusion
Storage
Source Processing
Source
14

Demonstration
► Indoor positioning use case
► Use existing techniques
► Validation of flexibility and modularity
Server
Offline App Online App
15

Positioning Model
WiFi
Source
BLE
Source
Merge
Frames
Socket
Sink
User
Input
Offline-stage App
16

Positioning Model ...
Socket
Source
Socket
Source
Fingerprint
Storage
Fingerprint
Service
Sink
WLAN
Fingerprin
Processin
BLE
Fingerprin
Processing
Server
Beacon
Data Service
17

Positioning Model ...
IMU
Source
Socket
Source
Position
Fusion
PDR
Processing
WiFi
Source
BLE
Source
Merge
Frames
Socket
Sink
Display
Sink
Online-stage App
Velocity
Processing
Velocity
Processing
Delay
18

Positioning Model ...
Socket
Sink
Socket
Source
Socket
Source
rint
ge
Fingerprint
Service
WLAN
Fingerprint
Processing
BLE
Multilateration
Processing
Position
Fusion
BLE
Fingerprint
Processing
Server
Beacon
Data Service
19

Validation Results
Static Positioning
WLAN fingerprinting BLE fingerprinting BLE multilateration Fusion
failed points 0 6 12 0
average error 1.23 m 3.23 m 4.92 m 1.37 m
minimum error 0.01 m 0.17 m 0.74 m 0.01 m
maximum error 4.77 m 15.39 m 19.26 m 9.75 m
hit rate 95.82 % 80.83 % 52.50 % 96.67 %
22

Validation Results ...
Trajectories
WLAN + BLE WLAN + BLE + IMU
average error 3.28 m 1.26 m
maximum error 9.60 m 3.10 m
average update frequency 3.04 s 0.52 s
24

Contributions and Conclusions
► OpenHPS: open source framework for hybrid positioning
⬛ Aimed towards developers and researchers
► Abstractions such as location-based services and spaces
► Validation of an indoor positioning use case
► Configurable and interchangeable nodes and services
► Public dataset with multiple orientations
Visit for additional
resources, documentation, source code and
more!
https://openhps.org
25

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