Mobility-Induced Graph Learning for WiFi Positioning

A smartphone-based user mobility tracking could be effective in finding his/her location, while the unpredictable error therein due to low specification of built-in inertial measurement units (IMUs) rejects its standalone usage but demands the integration to another positioning technique like WiFi positioning. This paper aims to propose a novel integration technique using a graph neural network called Mobility-INduced Graph LEarning (MINGLE), which is designed based on two types of graphs made by capturing different user mobility features. Specifically, considering sequential measurement points (MPs) as nodes, a user's regular mobility pattern allows us to connect neighbor MPs as edges, called time-driven mobility graph (TMG). Second, a user's relatively straight transition at a constant pace when moving from one position to another can be captured by connecting the nodes on each path, called a direction-driven mobility graph (DMG). Then, we can design graph convolution network (GCN)-based cross-graph learning, where two different GCN models for TMG and DMG are jointly trained by feeding different input features created by WiFi RTTs yet sharing their weights. Besides, the loss function includes a mobility regularization term such that the differences between adjacent location estimates should be less variant due to the user's stable moving pace. Noting that the regularization term does not require ground-truth location, MINGLE can be designed under semi- and self-supervised learning frameworks. The proposed MINGLE's effectiveness is extensively verified through field experiments, showing a better positioning accuracy than benchmarks, say root mean square errors (RMSEs) being 1.398 (m) and 1.073 (m) for self- and semi-supervised learning cases, respectively.