Next Article in Journal
Textile Concentric Ring Electrodes for ECG Recording Based on Screen-Printing Technology
Next Article in Special Issue
EKF–GPR-Based Fingerprint Renovation for Subset-Based Indoor Localization with Adjusted Cosine Similarity
Previous Article in Journal
Overhead Transmission Line Sag Estimation Using a Simple Optomechanical System with Chirped Fiber Bragg Gratings. Part 1: Preliminary Measurements
Previous Article in Special Issue
Walking Distance Estimation Using Walking Canes with Inertial Sensors
Article Menu
Issue 1 (January) cover image

Export Article

Open AccessArticle
Sensors 2018, 18(1), 304;

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
Author to whom correspondence should be addressed.
Received: 31 December 2017 / Revised: 14 January 2018 / Accepted: 17 January 2018 / Published: 20 January 2018
Full-Text   |   PDF [8051 KB, uploaded 20 January 2018]   |  


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

Figure 1

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).

Share & Cite This Article

MDPI and ACS Style

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

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics



[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top