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Indoor positioning using Bluetooth

Bråten, Håkon
Master thesis
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URI
http://hdl.handle.net/11250/2614721
Date
2016
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  • Institutt for bygg- og miljøteknikk [3701]
Abstract
As GNSS is not accurate enough for indoor use, several systems using alternative

technologies for indoor positioning have been developed. Most prominent are the

systems based on Wi-Fi. These rely on the strength of the Wi-Fi signals to

determine the position of the user, either by using trilateration or by

comparing to previously collected data. Using these techniques they provide

accuracy enough for navigation, but access points are expensive and prone to

changes in the environment. This thesis investigates whether using Bluetooth

beacons with Bluetooth Low Energy is a viable alternative to Wi-Fi positioning.

This is done by studying the properties of Bluetooth signals, the effect of

different environments and the accuracy achieved using several methods for

estimating distance and position. Tests are performed to determine parameters of

the logarithmic distance model and it's results are compared to a model which is

independent of the environment. The method of DARL is compared to trilateration

for determining a position from several distance estimations. Finally, using the

earlier results, tests are done to determine the accuracy one can expect in a

corridor using two different beacon configurations.

The strength of Bluetooth signals proved to be relatively stable up to a minute,

but variations on a larger scale made it difficult to accurately determine the

path loss exponent in the logarithmic distance model. This inaccuracy is

probably what led to the two distance models performing approximately equal.

DARL consistently provided more accurate position estimates than trilateration,

most likely as a result of heavily favoring nearby beacons to those further

away.

Using map matching in a corridor, average errors as low as 0.8 meters in the

lengthwise direction were achieved using eight beacons to cover 16 meters of the

corridor. The implication of this result is discussed with regards to an indoor

positioning system. Further works should be aimed at reducing long term

fluctuations in the received signal strength.
Publisher
NTNU

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