Method for Indoor Localization of Mobile Devices Based on AoA and Kalman Filtering

The mobile devices are a widely used tools for indoor localization. By different reasons the localization of mobile devices in closed areas has not yet fully developed because of missing of a reliable positioning technology. The paper presents a hybrid method for improving the accuracy of indoor positioning approach for Bluetooth Low Energy (BLE) mobile devices based on optimized combination of Angle of Arrival (AoA) and Receive Signal Strength (RSS) technologies. We propose a hybrid optimization method for indoor positioning, realized by two stage data fusion process using Extended Kalman filtering approach and Fraser-Potter equation. The test results show that the proposed method can achieve sensitively better accuracy in a real environment compared to existing indoor localization methods and techniques.

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