Seamless Indoor and Outdoor Positioning with Hybrid Bluetooth AoA and GNSS Signals

In this paper, a novel hybrid positioning system (HPS) is proposed by combining Bluetooth direction finding and GNSS signals for seamless indoor – outdoor positioning and asset tracking applications. We are demonstrating this novel hybrid system using a recent commercially available tracking device being capable of transmitting Bluetooth packets with continuous tone extension (CTE) and simultaneously receiving standard precision GNSS signals. The fusion of the Bluetooth and GNSS position estimates is applied after collecting indoor – outdoor measurement data from three different experimental set-ups, and emulating the seamlessness of such HPS operating in real time scenarios.