Bluetooth Three-Dimensional AOA Positioning Method Based on the AMA-SDM

Abstract

In order to solve the highly nonlinear nonconvex problem of the mathematical model in Bluetooth (angle of arrival (AOA)) localization, this paper proposes an alternating minimization algorithm for three-dimensional AOA localization. The algorithm method converts the solving error minimization solving three-dimensional coordinate problem in Bluetooth three-dimensional AOA localization model to solving four single-variable problems and alternately optimizes each variable to get the global optimal solution, which reduces the complexity of the model solving and achieves the high-precision localization performance without auxiliary information. The test is carried out in two states: dynamic line of sight (LOS) and static non–line of sight (NLOS), and the results show that the proposed method meets the demand for indoor positioning accuracy with a positioning error of 16 cm in LOS environment and 34 cm in NLOS environment.