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An Improved BLE Indoor Localization with Kalman-Based Fusion: An Experimental Study.

Jenny Röbesaat¹, Peilin Zhang², Mohamed Abdelaal³

¹OFFIS-Institut für Informatik, 26121 Oldenburg, Germany. jenny.roebesaat@offis.de.

Sensors (Basel, Switzerland)

|April 27, 2017

Summary

This study introduces a new indoor positioning system combining trilateration and dead reckoning. The novel fusion method, utilizing Kalman filtering and environmental context, achieves sub-meter accuracy, outperforming existing techniques.

Keywords:

Bluetooth Low Energy Kalman filter data fusion dead reckoning indoor localization trilateration

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Area of Science:

Computer Science
Electrical Engineering
Robotics

Background:

Indoor positioning systems are crucial but lack universal efficacy.
Existing methods like trilateration and dead reckoning have limitations in accuracy and stability.
High-accuracy indoor localization remains a significant challenge in various applications.

Purpose of the Study:

To propose a novel indoor positioning method by fusing trilateration and dead reckoning.
To enhance positioning accuracy by incorporating environmental context information.
To evaluate the performance of the proposed fusion method against traditional approaches.

Main Methods:

Developed a fusion algorithm using Kalman filtering for position estimation.
Utilized Android devices with Bluetooth Low Energy (BLE) for stable signal strength and low energy consumption.
Integrated environmental context into the positioning algorithm to refine accuracy.

Main Results:

The proposed fusion method significantly outperformed standalone trilateration and dead reckoning.
Kalman-based fusion achieved an indoor positioning accuracy of less than one meter in experimental settings.
The incorporation of environmental context further improved the positioning accuracy.

Conclusions:

The novel fusion method offers a robust and accurate solution for indoor positioning.
Kalman filtering effectively integrates multiple positioning techniques for enhanced performance.
The system demonstrates practical applicability for precise indoor localization using BLE technology.