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

Fig. 2 Schematic diagram of Beidou RTK positioning

Other figure/table from this article

Fig. 1 Schematic diagram of AOA Bluetooth 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
Table 3 Comparison of positioning errors
Fig. 9 Positioning error analysis