Location Fingerprinting With Bluetooth Low Energy Beacons
TL;DR: This work provides a detailed study of BLE fingerprinting using 19 beacons distributed around a ~600 m2 testbed to position a consumer device, and investigates the choice of key parameters in a BLE positioning system, including beacon density, transmit power, and transmit frequency.
Abstract: The complexity of indoor radio propagation has resulted in location-awareness being derived from empirical fingerprinting techniques, where positioning is performed via a previously-constructed radio map, usually of WiFi signals. The recent introduction of the Bluetooth Low Energy (BLE) radio protocol provides new opportunities for indoor location. It supports portable battery-powered beacons that can be easily distributed at low cost, giving it distinct advantages over WiFi. However, its differing use of the radio band brings new challenges too. In this work, we provide a detailed study of BLE fingerprinting using 19 beacons distributed around a $\sim\! 600\ \mbox{m}^2$ testbed to position a consumer device. We demonstrate the high susceptibility of BLE to fast fading, show how to mitigate this, and quantify the true power cost of continuous BLE scanning. We further investigate the choice of key parameters in a BLE positioning system, including beacon density, transmit power, and transmit frequency. We also provide quantitative comparison with WiFi fingerprinting. Our results show advantages to the use of BLE beacons for positioning. For one-shot (push-to-fix) positioning we achieve $30\ \mbox{m}^2$ ), compared to $100\ \mbox{m}^2$ ) and < 8.5 m for an established WiFi network in the same area.
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TL;DR: This work studies the effectiveness of proximity beacons for accurately locating objects within a manufacturing plant by performing extensive experiments in a real industrial environment and concludes that k-NN is the preferable algorithm due to its simple deployment and low number of hyper-parameters.
Abstract: Proximity beacons are small, low-power devices capable of transmitting information at a limited distance via Bluetooth low energy protocol. These beacons are typically used to broadcast small amounts of location-dependent data (e.g., advertisements) or to detect nearby objects. However, researchers have shown that beacons can also be used for indoor localization converting the received signal strength indication (RSSI) to distance information. In this work, we study the effectiveness of proximity beacons for accurately locating objects within a manufacturing plant by performing extensive experiments in a real industrial environment. To this purpose, we compare localization algorithms based either on trilateration or environment fingerprinting combined with a machine-learning based regressor (k-nearest neighbors, support-vector machines, or multi-layer perceptron). Each algorithm is analyzed in two different types of industrial environments. For each environment, various configurations are explored, where a configuration is characterized by the number of beacons per square meter and the density of fingerprint points. In addition, the fingerprinting approach is based on a preliminary site characterization; it may lead to location errors in the presence of environment variations (e.g., movements of large objects). For this reason, the robustness of fingerprinting algorithms against such variations is also assessed. Our results show that fingerprint solutions outperform trilateration, showing also a good resilience to environmental variations. Given the similar error obtained by all three fingerprint approaches, we conclude that k-NN is the preferable algorithm due to its simple deployment and low number of hyper-parameters.
19 citations
Cites background from "Location Fingerprinting With Blueto..."
...According to literature [27], there are many factors affecting the accuracy of BLE-based localization....
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TL;DR: The distance of RSSI vectors on their low-dimensional manifold is measured and a novel positioning method IWKNN (Isomap-based Weighted -Nearest Neighbor) is proposed that is more robust and accurate.
Abstract: Recently, Bluetooth-based indoor positioning has become a hot research topic. However, the instability of Bluetooth RSSI (Received Signal Strength Indicator) promotes a huge challenge in localization accuracy. To improve the localization accuracy, this paper measures the distance of RSSI vectors on their low-dimensional manifold and proposes a novel positioning method IWKNN (Isomap-based Weighted -Nearest Neighbor). The proposed method firstly uses Isomap to generate low-dimensional embedding for RSSI vectors. Then, the distance of two given RSSI vectors is measured by Euclidean distance of their low-dimensional embeddings. Finally, the position is calculated by WKNN. Experiment indicates that the proposed approach is more robust and accurate.
18 citations
Journal Article•
TL;DR: This survey defines classes of automated contact tracing techniques and identifies two major groups: systems that rely on a server for finding new infections and systems that distribute this process.
Abstract: To combat the ongoing Covid-19 pandemic, many new ways have been proposed on how to automate the process of finding infected people, also called contact tracing. A special focus was put on preserving the privacy of users. In this survey we define classes of automated contact tracing techniques. We identify two major groups: systems that rely on a server for finding new infections and systems that distribute this process. Existing approaches are systematically classified regarding security and privacy criteria.
18 citations
Proceedings Article•
01 Jan 2018TL;DR: This paper shows an approach for individual stores and high streets as a whole to facilitate spatio-temporal customer data collection based on connected mobile devices, Bluetooth beacons, and an underlying multi-sided community platform.
Abstract: Easy access to digital analysis of customer behavior and targeted advertising are principal advantages online retailers have over their stationary counterparts. Existingmanual and digital means for monitoring customer behavior in high streets are expensive to employ and/or technically complex, making them unfeasible for many retailers. This paper shows an approach for individual stores and high streets as a whole to facilitate spatio-temporal customer data collection based on connected mobile devices, Bluetooth beacons, and an underlying multi-sided community platform. A framework of analytical perspectives on customer data regarding various levels of analysis and beneficiaries is conceived, which provides novel design knowledge on location-based smart services for customer behavior analysis and targeted advertising in high streets.
18 citations
01 Sep 2019
TL;DR: A method of automatic localization for twin BLE beacons based on Range-Only Simultaneous Localization and Mapping (RO-SLAM) approach and multi-hypothesis Extended Kalman Filter (EKF) on the condition that only the relative distance of twin beacons is known.
Abstract: The installation process of numerous Bluetooth Low Energy (BLE) beacons in the indoor positioning environment usually requires the manual measurement of the beacon’s physical coordinates which tends to be a labor-intensive process. In this work, we aim to create a BLE beacon map by obtaining their coordinates from in situ Received Signal Strength (RSS) observations on a smartphone in a short period of time. This paper proposes a method of automatic localization for twin BLE beacons based on Range-Only Simultaneous Localization and Mapping (RO-SLAM) approach and multi-hypothesis Extended Kalman Filter (EKF), on the condition that only the relative distance of twin beacons is known. In this method, a person holding a smartphone collects RSS of BLE beacons by walking around with no requirement of predefined trajectory. Normally, the lack of angular information on the sensor involves the difficulty of finding a good initial value of the state vector in the EKF, that requires substantial time to evolve the estimation enough. In our proposed method, tracking the multiple hypotheses which represent the probability distribution of possible locations of the BLE beacon and smartphone makes the results obtainable in a brief RSS survey. The hypotheses generation process employs the interval information of twin BLE beacons to reduce the number of hypotheses and consequently the computational load. The experimental evaluation using commercial off-the-shelf devices show that the proposed method offers a significant improvement in the time required to evolve the location estimation, while the use of twin BLE beacons can suppress the total number of hypotheses.
18 citations
Cites background from "Location Fingerprinting With Blueto..."
...As the BLE beacon is easy to mount on an indoor landmark directly and free from consideration of coverage to provide communication services, the dense and flexible deployment of beacons is possible in indoor environment that allows the fine-grained positioning of smartphones [3]....
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References
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01 Nov 2007
TL;DR: Comprehensive performance comparisons including accuracy, precision, complexity, scalability, robustness, and cost are presented.
Abstract: Wireless indoor positioning systems have become very popular in recent years. These systems have been successfully used in many applications such as asset tracking and inventory management. This paper provides an overview of the existing wireless indoor positioning solutions and attempts to classify different techniques and systems. Three typical location estimation schemes of triangulation, scene analysis, and proximity are analyzed. We also discuss location fingerprinting in detail since it is used in most current system or solutions. We then examine a set of properties by which location systems are evaluated, and apply this evaluation method to survey a number of existing systems. Comprehensive performance comparisons including accuracy, precision, complexity, scalability, robustness, and cost are presented.
4,123 citations
"Location Fingerprinting With Blueto..." refers background in this paper
...Indoor positioning is a mature research field, with many proposed technologies and techniques—comprehensive overviews can be found in [2], [18], [19]....
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06 Jun 2005
TL;DR: The Horus system identifies different causes for the wireless channel variations and addresses them and uses location-clustering techniques to reduce the computational requirements of the algorithm and the lightweight Horus algorithm helps in supporting a larger number of users by running the algorithm at the clients.
Abstract: We present the design and implementation of the Horus WLAN location determination system. The design of the Horus system aims at satisfying two goals: high accuracy and low computational requirements. The Horus system identifies different causes for the wireless channel variations and addresses them to achieve its high accuracy. It uses location-clustering techniques to reduce the computational requirements of the algorithm. The lightweight Horus algorithm helps in supporting a larger number of users by running the algorithm at the clients.We discuss the different components of the Horus system and its implementation under two different operating systems and evaluate the performance of the Horus system on two testbeds. Our results show that the Horus system achieves its goal. It has an error of less than 0.6 meter on the average and its computational requirements are more than an order of magnitude better than other WLAN location determination systems. Moreover, the techniques developed in the context of the Horus system are general and can be applied to other WLAN location determination systems to enhance their accuracy. We also report lessons learned from experimenting with the Horus system and provide directions for future work.
1,631 citations
"Location Fingerprinting With Blueto..." refers background in this paper
...Here the focus is on radio positioning, specifically using the empirical fingerprinting techniques [3], [15], [17], [22] that avoid the need to model the complex radio propagation environment indoors by patternmatching to a previously surveyed map of radio signal strengths....
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TL;DR: It is concluded that PDR techniques alone can offer good short- to medium- term tracking under certain circumstances, but that regular absolute position fixes from partner systems will be needed to ensure long-term operation and to cope with unexpected behaviours.
Abstract: With the continual miniaturisation of sensors and processing nodes, Pedestrian Dead Reckoning (PDR) systems are becoming feasible options for indoor tracking. These use inertial and other sensors, often combined with domain-specific knowledge about walking, to track user movements. There is currently a wealth of relevant literature spread across different research communities. In this survey, a taxonomy of modern PDRs is developed and used to contextualise the contributions from different areas. Techniques for step detection, characterisation, inertial navigation and step-and-heading-based dead-reckoning are reviewed and compared. Techniques that incorporate building maps through particle filters are analysed, along with hybrid systems that use absolute position fixes to correct dead-reckoning output. In addition, consideration is given to the possibility of using smartphones as PDR sensing devices. The survey concludes that PDR techniques alone can offer good short- to medium- term tracking under certain circumstances, but that regular absolute position fixes from partner systems will be needed to ensure long-term operation and to cope with unexpected behaviours. It concludes by identifying a detailed list of challenges for PDR researchers.
749 citations
"Location Fingerprinting With Blueto..." refers background in this paper
...fingerprints with other sources to form hybrid systems, many of which are based on the idea of Simultaneous Localization and Mapping (SLAM) [10], [16] being applied to pedestrian dead reckoning [13]....
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01 Feb 2000
TL;DR: This paper analyzes shortcomings of the basic system, develops and evaluates solutions to address these shortcomings, and describes several new enhancements, including a novel access point-based environmental profiling scheme, and a Viterbi-like algorithm for continuous user tracking and disambiguation of candidate user locations.
Abstract: We address the problem of locating users inside buildings using a radio-frequency (RF) wireless LAN. A previous paper presented the basic design and a limited evaluation of a user-location system we have developed. In this paper, we analyze shortcomings of the basic system, and develop and evaluate solutions to address these shortcomings. Additionally, we describe several new enhancements, including a novel access point-based environmental profiling scheme, and a Viterbi-like algorithm for continuous user tracking and disambiguation of candidate user locations. Using extensive data collected from our deployment, we evaluate our system’s performance over multiple wireless LAN technologies and in different buildings on our campus. We also discuss significant practical issues that arise in implementing such a system. Our techniques are implemented purely in software and are easily deployable over a standard wireless LAN.
608 citations
01 Jun 2010
TL;DR: NTP version 4 (NTPv4), which is backwards compatible with NTP version 3 (N TPv3), described in RFC 1305, as well as previous versions of the protocol, are described.
Abstract: The Network Time Protocol (NTP) is widely used to synchronize computer
clocks in the Internet. This document describes NTP version 4 (NTPv4),
which is backwards compatible with NTP version 3 (NTPv3), described in
RFC 1305, as well as previous versions of the protocol. NTPv4 includes
a modified protocol header to accommodate the Internet Protocol
version 6 address family. NTPv4 includes fundamental improvements in
the mitigation and discipline algorithms that extend the potential
accuracy to the tens of microseconds with modern workstations and fast
LANs. It includes a dynamic server discovery scheme, so that in many
cases, specific server configuration is not required. It corrects
certain errors in the NTPv3 design and implementation and includes an
optional extension mechanism. [STANDARDS-TRACK]
605 citations
"Location Fingerprinting With Blueto..." refers methods in this paper
...Before each experiment, each clock was manually synchronized using a Network Time Protocol (NTP) server [20]....
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