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Open Access

BASIL: Binary Anchor-Based Smart Indoor Localization

School of Computer Science and Technology, Zhejiang University of Technology, Hangzhou 310023, China
College of Information Science & Electronic Engineering, Zhejiang University, Hangzhou 310027, China
Nokia Bell Labs, Paris-Saclay Center, Massy 91300, France
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Abstract

Indoor localization has been challenging research due to the invalidity of the global navigation satellite system in indoor scenarios. Recent advances in ambient assistive living have shown great power in detecting and locating persons living in their homes, especially using the ON/OFF binary sensors. In this paper, we exploit the Bluetooth low-energy beacons as device-based binary anchors under the lowest transmission power to turn any indoor activity and facility interaction into a binary location indicator. The binary anchors are fused with an extended Kalman filter based pedestrian dead-reckoning using a factor graph optimization, with extra constraints including the normalized magnetic loop closure which is optimized using an attenuation factor, and a rapidly-exploring random tree-based map collision validation. The proposed system provides a cost-effective, scalable, and robust localization for common indoor scenarios. The experimental results show an effective sub-meter precision for the long-term trajectories, and a small amount of anchors is enough for significant calibration in large scenarios.

Keywords

indoor localizationsensor fusiongraph optimizationbinary anchorloop closure

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Tsinghua Science and Technology
Volume 30 Issue 1,
February 2025
Pages 1-17
DOI: 10.26599/TST.2024.9010008
Cite this article:
Yang Z, Li Y, Zhang Y, et al. BASIL: Binary Anchor-Based Smart Indoor Localization. Tsinghua Science and Technology, 2025, 30(1): 1-17. https://doi.org/10.26599/TST.2024.9010008

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Received: 26 October 2023
Accepted: 20 December 2023
Published: 11 September 2024
© The Author(s) 2025.

The articles published in this open access journal are distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/).
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