Low-cost indoor localization system combining multilateration and Kalman filter

Oliveira, Leonardo Sestrem de; Rayel, Ohara Kerusauskas; Leitão, Paulo

http://hdl.handle.net/10198/24205

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Authors

Oliveira, Leonardo Sestrem de

Rayel, Ohara Kerusauskas

Leitão, Paulo

Abstract(s)

Indoor localization systems play an important role to track objects during their life-cycle in indoor environments, e.g., related to retail, logistics and mobile robotics. These positioning systems use several techniques and technologies to estimate the position of each object, and face several requirements such as position accuracy, security, range of coverage, energy consumption and cost. This paper describes a practical implementation of a BLE (Bluetooth Low Energy) based localization system that combines multilateration and Kalman filter techniques to achieve a low cost solution, maintaining a good position accuracy. The proposed approach was experimentally tested in an indoor environment, with the achieved results showing a clear low cost system presenting an increase of the estimated position accuracy by 10% for an average error of 2.33 meters

Keywords

Indoor positioning system Internet of things Bluetooth low energy Kalman filtering Multilateration

URI

http://hdl.handle.net/10198/24205

Citation

Oliveira, Leonardo Sestrem de; Rayel, Ohara Kerusauskas; Leitao, Paulo (2021). Low-cost indoor localization system combining multilateration and Kalman filter. In 30th IEEE International Symposium on Industrial Electronics, ISIE 2021. p. 1-6. ISBN 978-1-7281-9023-5