Indoor Localization Method Using Pathloss-Distance Relationship with Handset Sensor Information

This paper proposes an indoor localization method of the mobile handset using Bluetooth Low Energy (BLE) beacons. The method estimates the distance between the BLE transmitter and the handset by two different ways, i.e. the first one uses the pathloss-distance relationship, and the second one uses the Pedestrian Dead-Reckoning (PDR) relying on accelerometers built in the handset. The location is jointly estimated by using both results. Experimental results show that the localization error of the proposed method was 1.14 m on average, which is 2.16 m smaller than that of the method using only pathloss-distance relationship.