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Research on BLE and PDR fusion localization method based on ranging correction
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Hui LIU, Hangchuan HE
Journal of Chongqing University of Posts and Telecommunications(Natural Science Edition) | 2025, 37(5) : 627 - 637
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Journal of Chongqing University of Posts and Telecommunications(Natural Science Edition) | 2025, 37(5): 627-637
New-Generation Mobile Communication
Research on BLE and PDR fusion localization method based on ranging correction
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Hui LIU, Hangchuan HE
Affiliations
  • School of Communications and Information Engineering, Chongqing University of Posts and Telecommunications, Chongqing 400065, P R China
doi: 10.3979/j.issn.1673-825X.202501180025
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To address the significant decline in positioning accuracy of traditional algorithms under indoor non line of sight(NLOS)conditions and low beacon deployment density, this paper proposes a fused positioning method based on ranging correction, combining bluetooth low energy(BLE)and pedestrian dead reckoning(PDR). Firstly, the received signal strength(RSS)of BLE is rapidly constructed using SketchUp indoor 3D modeling software integrated with a ray-tracing algorithm, eliminating the need for tedious manual RSS field collection. Subsequently, a variational autoencoder based on convolutional neural network(VAE-CNN)is designed to predict and correct BLE ranging errors, thereby improving BLE positioning accuracy. Finally, an extended Kalman filter(EKF)is employed to fuse the positioning results from BLE and PDR. Experimental results demonstrate that the proposed ranging-corrected BLE positioning and EKF-based fusion positioning achieve superior performance in environments with NLOS interference and low beacon deployment density.

bluetooth low energy  /  pedestrian dead reckoning  /  ray tracing  /  variational autoencoder  /  extended Kalman filter
Hui LIU, Hangchuan HE. Research on BLE and PDR fusion localization method based on ranging correction[J]. Journal of Chongqing University of Posts and Telecommunications(Natural Science Edition), 2025 , 37 (5) : 627 -637 . DOI: 10.3979/j.issn.1673-825X.202501180025
Year 2025 volume 37 Issue 5
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doi: 10.3979/j.issn.1673-825X.202501180025
  • Receive Date:2025-01-18
  • Online Date:2026-04-16
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  • Received:2025-01-18
  • Revised:2025-09-10
Affiliations
    School of Communications and Information Engineering, Chongqing University of Posts and Telecommunications, Chongqing 400065, P R China
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表12种不同金属材料的力学参数

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Number of
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Number of
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鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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