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Sensors 2018, 18(1), 304; doi:10.3390/s18010304

An IMU-Aided Body-Shadowing Error Compensation Method for Indoor Bluetooth Positioning

School of Electronic Engineering, Beijing University of Posts and Telecommunications, Beijing 100876, China
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Author to whom correspondence should be addressed.
Received: 31 December 2017 / Revised: 14 January 2018 / Accepted: 17 January 2018 / Published: 20 January 2018
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Abstract

Research on indoor positioning technologies has recently become a hotspot because of the huge social and economic potential of indoor location-based services (ILBS). Wireless positioning signals have a considerable attenuation in received signal strength (RSS) when transmitting through human bodies, which would cause significant ranging and positioning errors in RSS-based systems. This paper mainly focuses on the body-shadowing impairment of RSS-based ranging and positioning, and derives a mathematical expression of the relation between the body-shadowing effect and the positioning error. In addition, an inertial measurement unit-aided (IMU-aided) body-shadowing detection strategy is designed, and an error compensation model is established to mitigate the effect of body-shadowing. A Bluetooth positioning algorithm with body-shadowing error compensation (BP-BEC) is then proposed to improve both the positioning accuracy and the robustness in indoor body-shadowing environments. Experiments are conducted in two indoor test beds, and the performance of both the BP-BEC algorithm and the algorithms without body-shadowing error compensation (named no-BEC) is evaluated. The results show that the BP-BEC outperforms the no-BEC by about 60.1% and 73.6% in terms of positioning accuracy and robustness, respectively. Moreover, the execution time of the BP-BEC algorithm is also evaluated, and results show that the convergence speed of the proposed algorithm has an insignificant effect on real-time localization. View Full-Text
Keywords: Bluetooth indoor positioning; body-shadowing detection; error compensation model; range-based positioning Bluetooth indoor positioning; body-shadowing detection; error compensation model; range-based positioning
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Deng, Z.; Fu, X.; Wang, H. An IMU-Aided Body-Shadowing Error Compensation Method for Indoor Bluetooth Positioning. Sensors 2018, 18, 304.

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