An approach to spatial localization of dynamic objects in a large swarms based on a combination of GPS and Bluetooth technologies

In large swarms of dynamic objects (for example, tens of thousands of people in a stadium during mass events), it is not easy to equip all objects with full-fledged GPS sensors to determine coordinates and transmit them to the security system.Therefore, we propose using a combination of two technologies: GPS (active objects) and Bluetooth (passive objects).Passive objects periodically emit a radio signal with a unique identification number.Active objects detect passive objects and communicate with the security system.This interaction scheme gives rise to the problem of determining the coordinates of passive objects.We present a set of novel algorithms to estimate and refine the coordinates of passive objects through information redundancy, which occurs when several active objects detect a passive object.Under favorable conditions, the use of this set of algorithms is equivalent to equipping passive objects with GPS sensors.