Indoor localization algorithms based on Angle of Arrival with a benchmark comparison

Indoor localization is crucial for developing intelligent environments capable of understanding user contexts and adapting to environmental changes. Bluetooth 5.1 Direction Finding is a recent specification that leverages the angle of departure (AoD) and angle of arrival (AoA) of radio signals to locate objects or people indoors. This paper presents a set of algorithms that estimate user positions using AoA values and the concept of the Confidence Region (CR), which defines the expected position uncertainty and helps to remove outlier measurements, thereby improving performance compared to traditional triangulation algorithms. We validate the algorithms with a publicly available dataset, and analyze the impact of body orientation relative to receiving units. The experimental results highlight the limitations and potential of the proposed solutions. From our experiments, we observe that the Conditional All-in algorithm presented in this work, achieves the best performance across all configuration settings in both line-of-sight and non-line-of-sight conditions.