Integrated Circuits and Embedded Systems

Indoor and outdoor collaborative positioning system based on Beidou and Bluetooth

LUO Huafeng, WANG Liuwang, ZUO Haoran, ZHAO Hua, SHI Ruida

Integrated Circuits and Embedded Systems, 2025, 25(3): 73-79. DOI: 10.20193/j.ices2097-4191.2024.0057

定位区域	室内区域		室内外缓冲区域		室外区域
定位方式	协同定位	非协同定位	协同定位	非协同定位	协同定位	非协同定位
平均误差/m	0.236 7	0.238 5	0.230 6	0.337 7	0.080 2	0.082 2
方差/m	0.009 4	0.008 3	0.008 6	0.058 7	0.000 9	0.000 6
标准差/m	0.096 9	0.091 3	0.092 5	0.240 9	0.030 2	0.024 3

Table 3 Comparison of positioning errors

Other figure/table from this article

Fig. 1 Schematic diagram of AOA Bluetooth positioning
Fig. 2 Schematic diagram of Beidou RTK positioning
Fig. 3 Indoor and outdoor unified coordinate system
Fig. 4 Schematic diagram of indoor and outdoor positioning area conversion
Table 1 Information allocation factor values in different scenarios
Fig. 5 Implementation process of indoor and outdoor collaborative positioning based on Beidou and Bluetooth positioning
Fig. 6 Experimental scenario and real walking route map
Table 2 Dataset description
Fig. 7 Training results of BP neural network model
Fig. 8 Walking test trajectory diagram
Fig. 9 Positioning error analysis