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Journal ArticleDOI

Location Fingerprinting With Bluetooth Low Energy Beacons

06 May 2015-IEEE Journal on Selected Areas in Communications (IEEE)-Vol. 33, Iss: 11, pp 2418-2428
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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Citations
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Proceedings ArticleDOI
29 Mar 2018
TL;DR: A novel sensor-fusion method that reconstructs trajectory of mobile devices from MEMS inertial measurement unit (IMU) using a new error model for MEMS devices to eliminate the influence of the errors.
Abstract: Abstract: In this paper, we present a novel sensor-fusion method that reconstructs trajectory of mobile devices from MEMS inertial measurement unit (IMU). In trajectory reconstruction, the position estimation suffers seriously from the errors in the raw MEMS data, e.g. accelerometer signal, especially after its second-order integration over time. To eliminate the influence of the errors, a new error model is proposed for MEMS devices. The error model consists of two components, i.e. noise and bias, corresponding to different types of errors. For the noise component, a low-pass filter with down sampling is applied to reduce the inherent noise in the data. For the bias component, an algorithm is designed to detect the events of movement in a manner of sensor fusion. Then, the denoised data is further calibrated, according to different types of events to remove the bias. We apply our trajectory reconstruction method on a quadrotor drone with low-cost MEMS IMU devices, and experiments show the effectiveness of the method.

2 citations


Cites background from "Location Fingerprinting With Blueto..."

  • ...Similar principles are also used in Bluetooth-based localization (Faragher and Harle, 2015)....

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DissertationDOI
01 Jan 2020

2 citations


Cites methods from "Location Fingerprinting With Blueto..."

  • ...[43] R. Faragher and R. Harle....

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  • ...A seminal study in location fingerprinting with BLE beacons is the work of Faragher and Harle [44]....

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  • ...[38] Y. Du, L. Du, B. Lu, R. Harley, and T. Habetler....

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  • ...[44] R. Faragher and R. Harle....

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Journal ArticleDOI
20 Aug 2022
TL;DR: An IPS is developed and evaluated that requires minimal setup for indoor environments and has a sufficiently low complexity to be run locally on a modern smartphone.
Abstract: To deal with the degraded performance of Global Navigation Satellite Systems (GNSS) in indoor environments, Indoor Positioning Systems (IPS) have been developed. The rapid proliferation of smartphones has led to many IPSs that utilize positioning technologies that are readily available on modern smartphones; including Bluetooth Low Energy (BLE).Using radio signals such as BLE in indoor environments comes with a number of challenges that can limit the reliability of the signal. In dealing with these challenges, most existing BLE-based IPSs introduce undesired drawbacks such as an extensive and fragile calibration phase, strict hardware requirements, and increases in the system’s complexity. In this paper, an IPS is developed and evaluated that requires minimal setup for indoor environments and has a sufficiently low complexity to be run locally on a modern smartphone. An extensive exploration of the IPS’ parameters was performed. The best performing parameter combinations resulted in a median positioning error of 1.48 ± 0.283 meters, while using the log-distance path loss model for distance estimation and Weighted Centroid Localization with a weight exponent be-tween 2.0 and 3.5 for position estimation.

2 citations

Proceedings ArticleDOI
21 Dec 2018
TL;DR: An experiment with Naïve Bayes was conducted in order to classify unknown location of object based on the signal strength of Bluetooth low energy and showed that the algorithm works well to estimate the right position of an object regarding its class.
Abstract: Indoor localization becomes more popular along with the rapid growth of technology dan information system. The research has been conducted in many areas, especially in algorithm. Based on the need for knowledge of training data, Fingerprinting algorithm is categorized as the one that works with it. Training data is then computed with the machine learning approach, Naive Bayes. Naive Bayes is a simple and efficient classifier to estimate location. This study conducted an experiment with Naive Bayes in order to classify unknown location of object based on the signal strength of Bluetooth low energy. It required 2 processes, collecting training data and evaluating test data. The result of the analysis with Naive Bayes showed that the algorithm works well to estimate the right position of an object regarding its class.

2 citations


Cites background or methods from "Location Fingerprinting With Blueto..."

  • ...Fingerprinting technique first records the training data of all RSSI detected by a user’s application at an exact coordinate [4], [5]....

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  • ...e fingerprinting [4], [5], [11], and the other that does not i....

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Proceedings ArticleDOI
06 Jul 2021
TL;DR: In this article, a 2D indoor positioning system using Bluetooth Low Energy (BLE) beacons is proposed for indoor mapping. And the model also uses IoT edge technology to enhance performance and provide a platform for further analysis.
Abstract: Global Positioning System (GPS) has made it very convenient for the world to move at a quick pace due to its contribution in picking up locations, velocities as well as providing time synchronization. Due to poor signal strength and increased complexity involved in detailing, it is inefficient for indoor navigation over outdoor navigation. Bluetooth Low Energy (BLE) beacons-based positioning systems are used for Indoor mapping instead. The proposed system intends on establishing a 2D indoor navigation system by locating a user's position, acquiring the details of the destination of choice and calculating a path for navigation. This is achieved using a designed Indoor Positioning System (IPS) and Dijkstra's algorithm. The model also uses Internet of Things (IoT) edge technology to enhance performance and provide a platform for further analysis. An academic block of our university is considered as the testbed for the system and the obtained experimental results are discussed.

2 citations

References
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Journal ArticleDOI
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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Proceedings ArticleDOI
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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Journal ArticleDOI
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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