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Bluetooth Low Energy-based Angle of Arrival Estimation in Presence of Rayleigh Fading

Angle of Arrival (AoA) approach with applications to Bluetooth Low Energy (BLE) has been recognized as an effective indoor localization method because of its ability for position determination with low estimation error. However, there are several issues including Carrier Frequency Offset (CFO), multipath effect, Inter-Symbol Interference (ISI), noise, and phase shifting faced by the AoA. To tackle these issues, we first highlight the wireless signal model in BLE standard and formulate the transmitted signal, wireless channel model, and the signal received by Linear Antenna Array (LAA). In addition, the paper introduces a novel fusion processing technique to eliminate the destructive impact of the wireless channel on the received signal, which leads to accurate angle detection following precise position estimation. The effectiveness of the proposed fusion processing method is evaluated through an experimental testbed in the presence of noise and Rayleigh fading channel. Based on the simulation results, the proposed processing approach illustrates significant improvements in the angle detection and path tracking in companion to its counterparts.