Method, apparatus, and computer program product for distributed indoor three-dimensional radiomap

An apparatus, comprising:

• at least one processor;
• at least one memory including computer program code;
• the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to:
• generate grid nodes representing one or more floor areas in an enclosed space, based on a map of the enclosed space;
• estimate locations along a path of motion of a user of the mobile wireless device traversing the one or more floor areas, based on motion observations made by a motion sensor in the apparatus and map information;
• generate a radiomap of the one or more floor areas by making radio measurements with the apparatus, at the estimated locations along the path of motion, and mapping the measurements to the generated grid nodes that are closest to the estimated locations;
• and
• compile a fingerprint data structure of the radiomap, including observation elements representing the radio measurements at the mapped grid nodes.

An apparatus, comprising:

• at least one processor;
• at least one memory including computer program code;
• the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to:
• receive a fingerprint data structure of a radiomap representing one or more floor areas in an enclosed space, from a mobile wireless device, the fingerprint data structure including observation elements representing radio measurements at mapped grid nodes of one or more floor areas, and
• combine the received radiomap with radiomaps of the one or more floor areas, received from other mobile wireless devices.

A computer program product comprising computer executable program code recorded on a computer readable non-transitory storage medium, the computer executable program code comprising:

• code for generating in a mobile wireless device, grid nodes representing one or more floor areas in an enclosed space, based on a map of the enclosed space;
• code for estimating in the mobile wireless device, locations along a path of motion of a user of the mobile wireless device traversing the one or more floor areas, based on motion observations made by a motion sensor in the mobile wireless device and map information;
• code for generating a radiomap of the one or more floor areas by making radio measurements with the mobile wireless device, at the estimated locations along the path of motion, and mapping the measurements to the generated grid nodes that are closest to the estimated locations;
• and
• code for compiling in the mobile wireless device, a fingerprint data structure of the radiomap, including observation elements representing the radio measurements at the mapped grid nodes.