Semi-Automatic Self-Calibrating Indoor Localization Using BLE Beacon Multilateration

The indoor localization within public environments remains a complex and challenging task due to a number of issues related to the sensor infrastructure, space geometry and mobile device restrictions. This paper describes a hybrid indoor localization method based on received signal strength multilateration and pedestrian dead reckoning using internal smartphone sensors and relies on Bluetooth Low Energy beacons. Taking into account the beacon’s zone of proximity and internal sensor data, the proposed method includes semi-automatic online calibration procedure of log-distance path loss propagation model. The proposed procedure takes into account smartphone heading angle and beacon signal obstructions due to user’s body and moving people bodies.