A Testing and Evaluation Framework for Indoor Navigation and Positioning Systems

The lack of a testing framework for various indoor positioning technologies brings huge challenges to the systematic and fair evaluation of positioning systems, which greatly hinders the development and industrialization of indoor positioning technology. In order to solve this problem, this article refers to international standards, such as ISO/IEC 18305, and uses the China Electronics Standardization Institute’s rich experience in indoor positioning technology research and testing to build a universal positioning performance testing and evaluation framework. First, this paper introduces the experimental environment in detail from the aspects of the coordinate system definition, test point selection, building type definition, motion mode definition, and motion trajectory setting. Then, this paper comprehensively measures performance evaluation indicators from dimensions such as the accuracy index, relative accuracy, startup time, fault tolerance, power consumption, size, and cost. Finally, this paper elaborates on the testing methods and processes of positioning precision, accuracy, relative accuracy, floor identification, indoor–outdoor distinction, latency, relative accuracy, success rate, and movement speed tests.