A High Fidelity Indoor Navigation System Using Angle of Arrival and Angle of Departure

Indoor location and micro-location systems are complicated by the lack of available GPS signals. This gap is being filled by Bluetooth and WiFi, but these systems have difficulty maintaining accuracy when the user is moving. This paper presents the results of an exploration of new features of Bluetooth 5.2, namely, Angle of Arrival and Angle of Departure using a Texas Instrument development board and Antenna Array. The research results are: 1) a novel prediction system for indoor positioning and navigation that performs at an accuracy of 0.23m (static), and 0.30m (moving); 2) a comparison and performance analysis of micro-location algorithms; and 3) an architectural model by which other researchers can extend our work on indoor positioning and navigation.