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An indoor positioning method based on bluetooth array/PDR fusion using the SVD-EKF.

Chenhui Li1, Jie Zhen2, Jianxin Wu3

  • 1School of Geographical Sciences, Xinyang Normal University, Xinyang, 464000, China. lichenhui@xynu.edu.cn.

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Summary
This summary is machine-generated.

High-precision indoor positioning is crucial for AI. This study introduces a Bluetooth array antenna system and a Singular Value Decomposition-Extended Kalman Filter (SVD-EKF) fusion method for accurate indoor navigation, improving robustness and adaptability in complex environments.

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Area of Science:

  • Surveying and Mapping Science
  • Artificial Intelligence
  • Wireless Communication

Background:

  • High-precision indoor positioning is essential for AI applications.
  • Traditional systems face challenges from unpredictable indoor environments and signal reflections.
  • Bluetooth signal array antennas offer potential for accurate indoor positioning.

Purpose of the Study:

  • To analyze a Bluetooth signal based array antenna angle measurement and positioning system.
  • To address multi-phase problems using Fast Fourier Transform (FFT) for frequency estimation.
  • To develop a robust and adaptive fusion positioning method for complex indoor environments.

Main Methods:

  • Analysis of Bluetooth signal array antenna principles.
  • Frequency estimation using Fast Fourier Transform (FFT).
  • Development of a Bluetooth array/Pedestrian Dead Reckoning (PDR) fusion method using Singular Value Decomposition-Extended Kalman Filter (SVD-EKF).
  • Improvements to the Extended Kalman Filter (EKF) including SVD for covariance matrix decomposition and an adaptive factor using a self-evaluation factor and Huber function.

Main Results:

  • The system achieves high accuracy in static and dynamic indoor tests, with maximum errors of 0.3m (near) and 0.6m (far).
  • The SVD-EKF algorithm reduced positioning error by 0.05m compared to EKF in dynamic room tests.
  • In corridor areas, SVD-EKF improved accuracy by 0.373m and provided smoother positioning than traditional EKF.

Conclusions:

  • The proposed Bluetooth array/PDR fusion system with SVD-EKF offers high-precision, robust, and adaptable indoor positioning.
  • The system demonstrates feasibility and effectiveness in complex indoor environments.
  • This technology provides a practical, easily deployable solution for high-precision indoor positioning needs.