WC-CP: a Bluetooth low energy indoor positioning method based on the weighted centroid of the convex polygon

Indoor navigation has attracted significant attention from both academic and industrial perspectives. Indoor positioning is a critical component of indoor navigation. Several solutions or technologies have been proposed, such as Wi-Fi, UWB, and Bluetooth. Among them, Bluetooth Low Energy (BLE) is cost-effective, easily deployable, flexible, and efficient. This paper focuses on indoor positioning solely based on BLE. Motivated by two observations, namely, that (i) involving more anchor nodes can enhance positioning accuracy, and that (ii) narrowing the area for unknown location determination can also lead to improved accuracy, a new distance-based method, the Weighted Centroid of the Convex Polygon (WC-CP), is proposed. While it is generally acknowledged that incorporating more anchor nodes can enhance indoor positioning performance, the current state of the art lacks a robust methodology for selecting and utilizing these nodes. The WC-CP approach addresses this gap by introducing a systematic and efficient method for identifying and employing the most suitable anchor nodes. By avoiding nodes that could potentially introduce significant errors or lead to incorrect localization, our method ensures more accurate and reliable indoor positioning. The efficacy of WC-CP is demonstrated in an indoor environment, achieving an RMSE of 1.35 m. This result shows significant improvements over three state-of-the-art approaches, about 34.15% better than LSBM, 32.50% better than TWCBM, and 30.05% better than ITWCBM. These findings underscore the potential of WC-CP for enhanced accuracy and reliability in indoor positioning based on BLE.