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Indoor navigation is necessary for users to explore large unfamiliar indoor environments such as airports, shopping malls, and hospital complex, which relies on the capability of continuously tracking a user's location. A typical indoor navigation system is built on top of a suitable Indoor Positioning System (IPS) and requires the user to periodically submit location queries to learn their whereabouts whereby to provide update-to-date navigation information. Received signal strength (RSS)-based IPSes are considered as one of the most classical IPSes, which locates a user by comparing the user's RSS measurement with the fingerprints collected at different locations in advance. Despite its significant advantages, existing RSS-IPSes suffer from two key challenges, the ambiguity of RSS fingerprints and device diversity, that may greatly reduce its positioning accuracy. In this paper, we introduce the design and evaluation of CITS, a novel RSS-based continuous indoor tracking system that can effectively cope with fingerprint ambiguity and device diversity via differential RSS fingerprint matching. Detailed experiment studies confirm the significant advantages of CITS over prior RSS-based solutions. 

Indoor positioning systems (IPSes) can enable many location-based services in large indoor venues where GPS signals are unavailable or unreliable. Among the most viable types of IPSes, RSS-IPSes rely on ubiquitous smartphones and indoor WiFi infrastructures and explore distinguishable received signal strength (RSS) measurements at different indoor locations as their location fingerprints. RSS-IPSes are unfortunately vulnerable to physical-layer RSS attacks that cannot be thwarted by conventional cryptographic techniques. Existing defenses against RSS attacks are all subject to an inherent tradeoff between indoor positioning accuracy and attack resilience. This paper presents the design and evaluation of MV-IPS, a novel RSS-IPS based on weighted multi-voting, which does not suffer from this tradeoff. In MV-IPS, every WiFi access point (AP) that receives a user’s RSS measurement gives a weighted vote for every reference location, and the reference location that receives the highest accumulative votes from all APs is output as the user’s most likely position. Trace-driven simulation studies based on real RSS measurements demonstrate that MV-IPS can achieve much higher positioning accuracy than prior solutions no matter whether RSS attacks are present.