Cooperative Indoor Positioning by Exchange of Bluetooth Signals and State Estimates Between Users

摘要

This paper presents a Bayesian indoor positioningsystem for smartphones based on the strengths of WiFi andBluetooth signals. A framework for improving the performanceof existing positioning methods with the help informationsharing between users is proposed and evaluated. Bluetoothsignals are sent between users, and the signal strengths containinformation about their relative distances, which is used toevaluate the probability distribution functions of their states.A particle filter is used for the state estimation, together withan unscented transform to propagate probability distributionsthrough nonlinearities.