Performance Analysis of a Location System Based on the Direction of Arrival of the Radio Signal

Indoor Positioning Systems (IPS) can be implemented using various wireless technologies. Bluetooth version 5.1, or Bluetooth Low Energy (BLE), includes the Angle of Arrival (AoA) signal metric, which can be utilized for estimating the position of people or objects. This paper proposes the implementation and performance analysis of an IPS in terms of accuracy and precision, considering both the presence and absence of body shadowing. The study presents results using the triangulation technique and applies various tools to AoA measurements, including arithmetic mean, least squares, the K-Means algorithm, and the Extended Kalman Filter (EKF), to evaluate the system’s performance. The findings indicate that the accuracy and precision of position estimation decrease in the presence of body shadowing, while the system performs better without it.