An indoor location positioning algorithm for portable devices and autonomous machines

The concept of indoor location positioning has been around for decades now. Despite the existence of many algorithms that can achieve location positioning with remarkable performance in terms of accuracy, implementation of such algorithms has not been done on a large scale. There is a trade-off between the positioning accuracy and the complexity of the algorithm. This paper introduces and explains a method that is lightweight in terms of complexity and cost which can be used to perform indoor location positioning. The proposed algorithm does not require a radiomap or a server, which makes it suitable for systems with limited processing power such as mobile nodes, drones, and small autonomous intelligent machines.