Improved Indoor Positioning System Using BLE Beacons and a Compensated Gyroscope Sensor

Abstract

When it comes to indoor positioning system (IPS) using smartphones, most of pedestrian dead reckoning (PDR) based IPS systems rely on the embedded sensors in a smartphone. Unfortunately, those sensors cannot avoid having noisy data due to their poor performance. Unpredictable indoor environments and a user’s motion may also distort sensor data. For these reasons, an error-compensating algorithm is required. In this paper, we propose a compensated gyroscope sensor algorithm to clear away those noises. Also, we used Bluetooth-Low-Energy (BLE) beacons based positioning system. It aims for reducing the compensated gyroscope sensor’s cumulative error as well as providing precise user’s initial point. Finally, we propose an integrated system making cooperative relationship between BLE beacons and sensors, especially compensated gyroscope sensor. This paper also includes implementations in the hallway of a building to describe the effectiveness by showing error rates.