Using Fuzzy Logic to Improve BLE Indoor Positioning System

Sérgio Onofre, Bernardo Caseiro, João Paulo Pimentão, Pedro Sousa

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review

8 Citations (Scopus)


Accuracy and precision are key parameters in the definition of indoor positioning systems. We want to provide a mobile robot with the capacity to autonomously determining its location inside buildings, to allow it to autonomously navigate. The solution developed is based on spreading emitter beacons of Bluetooth Low Energy in the building and use location finding techniques to determine the robot’s location. The main challenge is the capacity to obtain accurate readings of signal strength and the low repeatability of readings even under unchanged conditions. To improve the signal strength measurements it is necessary to deal with this imprecision. Our approach is based on the use of Fuzzy Logic to deal with the accuracy problem. Once better signal strength readings are achieved, using this method, approximate distances are calculated based on signal strength and the trilateration method is implemented to provide the location of the mobile robot. © IFIP International Federation for Information Processing 2016.
Original languageEnglish
Title of host publicationTechnological Innovation for Cyber-Physical Systems: 7th IFIP WG 5.5/SOCOLNET Advanced Doctoral Conference on Computing, Electrical and Industrial Systems, DoCEIS 2016, Costa de Caparica, Portugal, April 11-13, 2016, Proceedings
EditorsM. Luis Camarinha-Matos, António J. Falcão, Nazanin Vafaei, Shirin Najdi
Place of PublicationCham
Number of pages9
ISBN (Print)978-3-319-31165-4
Publication statusPublished - 2016


  • Fuzzy Logic
  • Indoor location techniques
  • Bluetooth low energy
  • Trilateration


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