Development of an Algorithm for Positioning an Object According to Data from an Active Sensor Network Bluetooth Low Energy Beacons

The paper considers the process of developing an algorithm for positioning an object according to data from an active sensor network Bluetooth Low Energy beacons. To develop the algorithm, a laboratory bench was developed that includes Bluetooth Low Energy beacons, a debug board, a smartphone and a personal computer. The stand uses software developed by the authors. At the first stage, we consider the construction of a triangulation for a controlled room by points, which are presented in the form of Bluetooth Low Energy beacons. In fact, this is an interpretation of the plan of the controlled area into a description of the propagation environment of radio beacon signals, taking into account physical obstacles. In addition to triangulation, a cache is created, which increases the speed of work with a digital map of the controlled room. The following describes the process of selecting beacons to apply multilateration. A modified multilateration algorithm has been developed taking into account the specifics of the choice of beacons. A mathematical description of the developed stages of the positioning algorithm is given. Experimental studies of the proposed algorithm have been carried out in a closed room measuring 5 by 10 meters. Based on the conducted experiment, it can be concluded that the developed algorithm allows positioning a moving mobile device in real time with an accuracy of 5–54 cm. Using additional tools to refine the positioning results can improve this result.