This paper presents a novel method for indoor localization, developed with the main aim of making it useful for real-world deployments. Many indoor localization methods exist, yet they have several disadvantages in real-world deployments-some are static, which is not suitable for long-term usage; some require costly human recalibration procedures; and others require special hardware such as Wi-Fi anchors and transponders. Our method is self-calibrating and self-adaptive thus maintenance free and based on Wi-Fi only. We have employed two well-known propagation models-free space path loss and ITU models-which we have extended with additional parameters for better propagation simulation. Our self-calibrating procedure utilizes one propagation model to infer parameters of the space and the other to simulate the propagation of the signal without requiring any additional hardware beside Wi-Fi access points, which is suitable for real-world usage. Our method is also one of the few model-based Wi-Fi only self-adaptive approaches that do not require the mobile terminal to be in the access-point mode. The only input requirements of the method are Wi-Fi access point positions, and positions and properties of the walls. Our method has been evaluated in single- and multi-room environments, with measured mean error of 2-3 and 3-4 m, respectively, which is similar to existing methods. The evaluation has proven that usable localization accuracy can be achieved in real-world environments solely by the proposed Wi-Fi method that relies on simple hardware and software requirements.
