RSSI localisation with sensors placed on the user

We examine the indoor single-room localisation problem while using multiple fixed transmitters (anchors) and multiple mobile receivers placed on the user (mobiles). Anchors transmit a periodic beacon that the mobiles receive and of which they measure the received power level value (RSSI). Using this information only, which requires no specialised hardware, the mobiles estimate the position and orientation of the user. Many methods have been proposed to tackle this problem. In this paper we describe a purely theoretical procedure that aims to evaluate the maximum attainable performance of any real methods using RSSI for localisation purpose. Our analysis we present is based on a fine grid of RSSI values in a room, which are computed via raytracing, and a maximum-likelihood approach to localisation. Here we illustrate the performance gains of using multiple mobiles versus using a single one and and the attainable performance of user orientation estimation.