Table Of ContentGeographical and
Fingerprinting Data for
Positioning and Navigation
Systems
Series Editor
Fatos Xhafa
Geographical and
Fingerprinting Data for
Positioning and Navigation
Systems
Challenges, Experiences, and
Technology Roadmap
Edited by
Jordi Conesa
FacultyofComputerSciences,MultimediaandTelecommunication,eHealth
CenteratUniversitatObertadeCatalunya(UOC),Barcelona,Spain
Antoni Pérez-Navarro
FacultyofComputerSciences,MultimediaandTelecommunicationat
UniversitatObertadeCatalunya(UOC),Barcelona,Spain;
InternetInterdisciplinaryInstitute(IN3)atUOC,Castelldefels,Spain
Joaquín Torres-Sospedra
InstituteofNewImagingTechnologies,JaumeIUniversity,Castellón,Spain
Raul Montoliu
InstituteofNewImagingTechnologies,JaumeIUniversity,Castellón,Spain
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Dedicatories
Gràcies Eduard i Pilar per haver alimentat aquesta curiositat que em permet aprendre i
gaudirdiareredia.
Gràcies Neus i Aniol per ser la meva font d’inspiració diària, per tots els somriures que
m’heurobatipelsqueencaram’heuderobar.
Jordi
GràciesEli,GuillemiMiquel.Aquítrobareumoltsmomentsenquèestàveuambmi,però
noemvèieu.Graciasamispadresyamifamilia,porvermásdeloqueveo.
Toni
GràciesAnaperregalar-metantsmomentsenaquestviatge.
Graciasamispadresyfamiliaporhabermeeducadoparaserlapersonaqueahorasoy.
Ximo
Graciasamifamiliaporvuestrassonrisasdetodoslosdías.
Raúl
Contributors
Amanda Antunes Geodetic Sciences Graduate Program, Federal University of Paraná,
Curitiba,Brazil
PanagiotisBamidis MedicalSchooloftheAristotleUniversityofThessaloniki,Thessa-
loniki,Greece
ÓscarBelmonte-Fernández InstituteofNewImagingTechnologies,JaumeIUniversity,
Castellón,Spain
Maria-GabriellaDiBenedetto DepartmentofInformationEngineering,Electronicsand
Telecommunications(DIET),SapienzaUniversityofRome,Rome,Italy
MauriBenedito-Bordonau EstudiosGIS,C/AlbertEinstein,Vitoria-Gasteiz,Spain
Rafael Berkvens Faculty of Applied Engineering, University of Antwerp—IMEC IDLab,
Antwerp,Belgium
DinaBousdarAhmed InstituteofCommunicationsandNavigation,GermanAerospace
Center(DLR),Oberpfaffenhofen,Germany
IgnacioBravo-Muñoz DepartmentofElectronics,UniversityofAlcalá,Madrid,Spain
ThomasBurgess indoo.rsGmbH,Wien,Austria
Andrea Calia Department BE-OP, European Organization for Nuclear Research, CERN
Cedex,France
OscarCanovas FacultyofComputerScience,UniversityofMurcia,Murcia,Spain
GiuseppeCaso DepartmentofInformationEngineering,ElectronicsandTelecommuni-
cations(DIET),SapienzaUniversityofRome,Rome,Italy
Jordi Conesa Faculty of Computer Sciences, Multimedia and Telecommunication at
UniversitatObertadeCatalunya(UOC),Barcelona,Spain
GiuseppeConti Nively,Nice,France
AntónioCosta AlgoritmiResearchCenter,UniversityofMinho,Guimarães,Portugal
Constantinos Costa Department of Computer Science, University of Cyprus, Nicosia,
Cyprus
AntoninoCrivello InstituteofInformationScienceandTechnologies“A.Faedo”National
ResearchCouncil,ISTI-CNR,Pisa,Italy
Álvaro De-La-Llana-Calvo Department of Electronics, University of Alcalá, Madrid,
Spain
LucieneS.Delazari GeodeticSciencesGraduateProgram,FederalUniversityofParaná,
Curitiba,Brazil
EstefaniaMunozDiaz InstituteofCommunicationsandNavigation,GermanAerospace
Center(DLR),Oberpfaffenhofen,Germany
NicolaDorigatti Trilogissrl,Rovereto,Italy
xv
xvi CONTRIBUTORS
PedroPauloFarias CartographicEngineeringUndergraduateCourse,FederalUniversity
ofParaná,Curitiba,Brazil
Leonardo Ercolin Filho Department of Geomatics, Federal University of Paraná,
Curitiba,Brazil
FernandoJ.ÁlvarezFranco SensorySystemsResearchGroup,UniversityofExtremadura,
Badajoz,Spain
FelixJ.Garcia FacultyofComputerScience,UniversityofMurcia,Murcia,Spain
AlfredoGardel-Vicente DepartmentofElectronics,UniversityofAlcalá,Madrid,Spain
Noelia Hernández Intelligent Vehicles and Traffic Technologies Group, University of
Alcalá,Madrid,Spain
A.K.M.MahtabHossain DepartmentofComputingandInformationSystems,University
ofGreenwich,London,UnitedKingdom
Joaquín Huerta Institute of New Imaging Technologies, Jaume I University, Castellón,
Spain
Susanna Kaiser Institute of Communications and Navigation, German Aerospace
Center(DLR),Oberpfaffenhofen,Germany
StefanKnauth HFTStuttgart,UniversityofAppliedSciences,Stuttgart,Germany
EvdokimosKonstantinidis Nively,Nice,France
JoséLuisLázaro-Galilea DepartmentofElectronics,UniversityofAlcalá,Madrid,Spain
Elina Laitinen Laboratory of Electronics and Communications Engineering, Tampere
UniversityofTechnology,Tampere,Finland
Ki-JouneLi PusanNationalUniversity,Busan,SouthKorea
ElenaSimonaLohan LaboratoryofElectronicsandCommunicationsEngineering,Tam-
pereUniversityofTechnology,Tampere,Finland
JoseMaríaCaberoLopez TecnaliaResearch&Innovation,Derio,Spain
Pedro E. Lopez-de-Teruel Faculty of Computer Science, University of Murcia, Murcia,
Spain
Juraj Machaj Department of Multimedia and Information-Communication Technolo-
gies,UniversityofZilina,Žilina,Slovakia
GermánM.Mendoza-Silva Institute of New Imaging Technologies, Jaume I University,
Castellón,Spain
FilipeMeneses AlgoritmiResearchCenter,UniversityofMinho,Guimarães,Portugal
Raul Montoliu Institute of New Imaging Technologies, Jaume I University, Castellón,
Spain
AdrianoMoreira AlgoritmiResearchCenter,UniversityofMinho,Guimarães,Portugal
LucaDeNardis DepartmentofInformationEngineering,ElectronicsandTelecommuni-
cations(DIET),SapienzaUniversityofRome,Rome,Italy
MariaJoãoNicolau AlgoritmiResearchCenter,UniversityofMinho,Guimarães,Portugal
FilippoPalumbo InstituteofInformationScienceandTechnologies“A.Faedo”National
ResearchCouncil,ISTI-CNR,Pisa,Italy
Contributors xvii
Antoni Pérez-Navarro Faculty of Computer Sciences, Multimedia and Telecommuni-
cation at Universitat Oberta de Catalunya (UOC), Barcelona; Internet Interdisciplinary
Institute(IN3),Castelldefels,Spain
FrancescoPotortì InstituteofInformationScienceandTechnologies“A.Faedo”National
ResearchCouncil,ISTI-CNR,Pisa,Italy
AdriánPuertas-Cabedo SolucionesCuatroochentaS.L.,ESPAITEC2,Castellón,Spain
PhilippRichter Laboratory of Electronics and Communications Engineering, Tampere
UniversityofTechnology,Tampere,Finland
Luis E. Rodríguez-Pupo Institute of New Imaging Technologies, Jaume I University,
Castellón,Spain
David Rodríguez-Navarro Department of Electronics, University of Alcalá, Madrid,
Spain
Emilio Sansano-Sansano Institute of New Imaging Technologies, Jaume I University,
Castellón,Spain
Scarlet Barbosa dos Santos Cartographic Engineering Undergraduate Course,Federal
UniversityofParaná,Curitiba,Brazil
RhaissaVianaSarot GeodeticSciencesGraduateProgram,FederalUniversityofParaná,
Curitiba,Brazil
Lorenz Schauer Mobile and Distributed Systems Group, LMU Munich, Munich,
Germany
PedroFigueiredoeSilva Laboratory of Electronics and Communications Engineering,
TampereUniversityofTechnology,Tampere,Finland
Jukka Talvitie Laboratory of Electronics and Communications Engineering, Tampere
UniversityofTechnology,Tampere,Finland
Joaquín Torres-Sospedra Institute of New Imaging Technologies, Jaume I University,
Castellón,Spain
Sergio Trilles Institute of New Imaging Technologies, Jaume I University, Castellón,
Spain
PawelWilk SamsungR&DPoland,Warszawa,Poland
SisiZlatanova UniversityofNewSouthWales,Sydney,Australia
Preface
GeolocationsystemshavebeenpresentduringdecadesthanktoGlobalNavigationSatel-
liteSystem(GNSS),ofwhichthebestknownistheGPS.However,theeruptionofmobile
technologies and the availability of geographical data have driven to an eclosion of
geolocationservicesanditspopularization.Nowadays,mostofpeopledailyuseservices
that deal with geographical information. These services, known as Location-Based Ser-
vices (LBS), include navigation systems that guide users by car, foot, or bicycle; help to
evacuationsystems;socialnetworkservices,amongothers.
Nevertheless, despite its popularization, these services can be considered useless in
mostofthesituations,sincetheyarebasedmostlyonGNSSandpeoplespend80%-90%of
theirtimeinplaceswhereGNSSdonotwork:indoorenvironments.Theseenvironments
includeoffices,undergrounds,shoppingmalls,airports,etc.ThemainreasonsforGNSS
not working in indoor environments are two: satellite signal cannot reach with enough
intensity in indoor spaces; and in the case signal would be strong enough, maps of the
buildingsarenotavailableinthesamewaythatnowadaysareoutdoorsmaps,thatis,the
mapsshouldhavetobeavailableandtheyshouldhavetobeinadigitalformatthatLBS
couldunderstandandinterpret.Thus,indoorpositioninghastwochallenges:location,to
knowthecoordinatesofanobjectwithinabuilding;andposition,forwhichdevelopment
and creation of indoor maps is needed. Therefore, new solutions should be taken into
account.
Another relevant issue when dealing with indoor positioning is the creation and
accessofindoormaps.Althoughseveralsolutionshavebeenproposed,likeIndoorGML,
IndoorOSM, Indoor Here Maps, there is not a unique way to access and to create maps.
If indoor positioning and navigation should be used as democratically as outdoors, new
specificationstodefinemapsinaunifiedsemanticsshouldbeprovided.Inaddition,the
publication of indoor maps arise new serious issues that should be taken into account
carefully: (1) privacy, that is, which maps should be available and for whom?; and (2)
security,thatis,whichtechniquesareneedtoenforcethedetectedprivacyconstraints?
Itisimportanttonotethatseveralsolutionsandtechniquesarealreadyavailabletoget
positioninginindoorenvironmentswithacceptableaccuracy,suchasBluetooth,radiofre-
quency,infrared,ultra-wide-band,etc.Butallthesesolutionsneedthedeploymentofded-
icatedsensorswithinthebuilding.Therefore,althoughtheyareefficient,theymaynotbe
economicallyscalableandshouldneedmaintenance.Furthermore,mostofthemdonot
providecontinuityoutdoor-indoor,someofthemdonotevenworkinsmartphones,and
alsotheyonlyworkproperlyinthesingleenvironmentforwhichtheyhavebeendesigned.
xix
