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arXiv · 2602.17407

Bluetooth Phased-array Aided Inertial Navigation Using Factor Graphs: Experimental Verification

Glen Hjelmerud Mørkbak Sørensen·Torleiv H. Bryne·Kristoffer Gryte·Tor Arne Johansen
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Abstract

Phased-array Bluetooth systems have emerged as a low-cost alternative for performing aided inertial navigation in GNSS-denied use cases such as warehouse logistics, drone landings, and autonomous docking. Basing a navigation system off of commercial-off-the-shelf components may reduce the barrier of entry for phased-array radio navigation systems, albeit at the cost of significantly noisier measurements and relatively short feasible range. In this paper, we compare robust estimation strategies for a factor graph optimisation-based estimator using experimental data collected from multirotor drone flight. We evaluate performance in loss-of-GNSS scenarios when aided by Bluetooth angular measurements, as well as range or barometric pressure.

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Glen Hjelmerud Mørkbak Sørensen, Torleiv H. Bryne, Kristoffer Gryte, Tor Arne Johansen. 2026-02-19. Bluetooth Phased-array Aided Inertial Navigation Using Factor Graphs: Experimental Verification. https://arxiv.org/abs/2602.17407

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