RSSI vs AoA Bluetooth Asset Tracking

In a previous post on iBeacon Microlocation Accuracy we explained how assets can be tracked using Bluetooth Received Signal Strength (RSSI) or Angle of Arrival (AoA). We advised working out what accuracy is needed prior to seeking out an appropriate solution. However, accuracy isn’t always the only consideration and here is a more complete list of factors.

Accuracy

RSSI asset tracking can achieve accuracies of about 1.5m within a shorter range confined space and 5m at the longer distances. RSSI zone-based systems where beacons are found to the nearest gateway, are accurate to the inter-gateway distance that can be of the order of cm. However having such as large gateway density is usually only practical for very small areas.

AoA asset tracking achieves sub-metre accuracy. The accuracy depends most on the distance between the locator and beacon but is also affected by the locator hardware quality, radio signal noise, surfaces causing radio reflections, the accuracy of locator placement and beacon orientation.

Maximum number of beacons

AoA-based asset tracking produces and requires much more data which means the locators and software systems have to deal with more data. The data throughput for both types of system depends on the required minimum latency that in-turn depends on how often the beacons advertise. RSSI-based systems support up to high tens of thousands of beacons while AoA supports thousands of beacons.

Beacon variety and IoT

RSSI-based systems can use any beacon and hence support a large range of sensor beacons that can detect movement (accelerometer), movement (started/stopped moving), button press, temperature, humidity, air pressure, light level, open/closed (magnetic hall effect), proximity (PIR), proximity (cm range), fall detection, smoke, natural gas and water leak.

AoA beacons are more specialised and currently only support limited IoT sensing such as movement (accelerometer) and button press.

Cost

AoA locators, gateways and beacons are more complex and are therefore more costly. AoA also needs more locators/gateways per sq area. Hence, AoA systems are x3 to x4 more expensive than RSSI systems.

Setup effort

The accuracy of AoA requires that locators be more carefully positioned than for RSSI, in particular the site and AoA locator positions need to be carefully measured.

Beaconzone supplies both RSSI and AoA systems. Contact us to determine the best type of system for your needs.

Nordic Semiconductor Wireless Quarter Articles

Nordic Semiconductor, the manufacturer of the System on a Chip (SoC) in many beacons, has published the latest online issue of Wireless Quarter Magazine. It showcases the many uses of Nordic SoCs.

The latest issue of the magazine highlights the use of SoCs in the following Bluetooth solutions:

  • A glucose monitoring system
  • A six-degrees-freedom (6DoF) virtual reality (VR) headset
  • A smart bulb that can be controlled from a connected device or by voice command
  • A smartwatch incorporating Amazon Alexa Voice Service (AVS) functionality
  • A Mouse supporting very low latency PC gaming
  • A Bluetooth LE powered trampoline wearable

There are also interesting articles on:

  • The DECT-2020 standard for IoT
  • How engineering education is evolving to train tomorrow’s IoT innovators
  • How location services can extend beyond supply chains to other use cases
  • How wireless tech increases workers’ safety and boosts productivity

The use of asset tracking solutions in global logistics could create $1.9 trillion of economic value

There’s also an ‘Inside Track’ article on beacons showing how beacon wireless location services are making consumers’ lives simpler.

Inside the Minew LR1 Locator

The Minew AR1 locator has multiple antenna that receive special constant tone extension (CTE) advertising from beacons.

The Minew antenna consists of 12 PCB patches. If you imagine a radio signal hitting the antenna array from the left hand side, the antennas to the right will receive the signal slightly later. The phase difference can be use to determine the angle.

Martin Woolley’s excellent Bluetooth Direction Finding Technical Overview explains the theory. The main concept is based on simple trigonometry:

In practice, if you do this across just two antenna and with one sample the result has very poor stability. Instead, you need to consider all the antenna patches, over time, as well as perform analysis in multiple directions. This requires use of advanced radiogoniometry techniques.

Minew AoA Kit

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Minew AoA Direction Finding Kit in Stock

We now have Minew AoA Direction Finding Kit and beacons in stock. The AoA kit consists of a G2 gateway, 4 locators, 3 beacons and interconnecting cables. It covers an area of 400m². Multiple kits can be used to cover larger areas.

The gateway outputs antenna IQ data that’s sent to your server or BeaconZone’s LocationEngine™ for generation of angles.

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How Accurate is Bluetooth Direction Finding?

Bluetooth direction finding promises sub-meter accuracy. In practice, the accuracy varies depending on factors such as the locator hardware quality, radio signal noise, surfaces causing radio reflections, the accuracy of locator placement and beacon orientation. The sophistication of the location engine software in mitigating some of the aforementioned factors can improve the accuracy.

As a guideline, our Location Engine with the Minew G2/AR1 tends to find beacons with a maximum angular error range between 6° to 10°, depending on the above factors. The error in position due to an error in angle gets magnified with distance from the locator. Hence, the accuracy also depends on the distance between the locator and the beacon.

Here are graphs of error vs distance for 6° error and 10° error:

The above accuracies are for hardware such as the Minew G2/AR1 with PCB antennas 50mm apart. It’s expected that greater accuracies might be achieved with hardware having greater inter-antenna distances.

It can be seen that the sub-meter promise has caveats. We have some tips to help reduce angular errors. Averaging data, over time, also reduces angular error with the trade-off of increased latency of detecting location changes. As with all locating technologies, headline performance claims need to be carefully examined and are only achievable in particular situations.

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Log4j Vulnerability

If you work in IT you will be almost certainly aware of the very recent Log4Shell vulnerability indexed as CVE-2021-44228. The Log4j is used by many popular applications, services and Java components. This vulnerably demands particular attention because it’s implicitly included in lots of software and allows an attacker to execute arbitrary code on affected systems.

We have completed a thorough analysis of our own systems and the software we supply to customers and can declare we have no services, products, or applications that are at risk. We don’t use Java at all and none of the components we use are using it behind the scenes.

Even though Beaconzone systems are not affected, there is the possibility that your other services might be impacted. You should communicate with your IT department to identify and mitigate this vulnerability. The NCSC has released a very large list of known affected software and the steps you can take.

Beacon Battery Use Testing

One of the issues with using Bluetooth beacons is that it’s not easy to predict how long batteries are going to last. Battery life depends not just on the battery capacity but also the transmitted power, advertising interval, beacon processor chip type and whether the beacon has timed transmission. Also, beacons vary from model to model, sometimes even between revisions of the same model. In some scenarios it’s essential to know which beacon models are the most power efficient and how long batteries will last.

Over the years we have spent a considerable amount of time investigating actual battery use. It’s not as simple as you might think. You can’t use an ammeter because it can’t see the short pulses in peak power. The majority of the power is expended in very short, few millisecond (ms) transmit pulses, in between which the beacon goes into low power sleep.

nordicadvertising

Nordic Bluetooth Advertising Power Use

Testing needs to integrate the current used over multiple advertising periods. The test equipment needs to capture this data at sub 1ms precision in order to catch the pulses. The testing also needs to be flexible enough to work for advertising periods from 100ms to 10 sec.

We have custom in-house designed test equipment capable of real-time battery current testing. This enables us to compare different manufacturers’ beacons having the same configured settings and provide our consultancy clients with beacon battery use data based on their exact configuration settings.

beaconpoweranalyser

As an example, an interesting test we did was was to compare the Sensoro AA transmitting just iBeacon vs iBeacon at the same time as the 3x Eddystone advertising packets. With only ibeacon @ 760ms, 0dBm advertising, 4 typical alkaline batteries would last 7.7 years. Transmitting all 4 iBeacon and Eddystone frames reduces the battery life to 2.9 years.

Another interesting observation has been that the beacons that have the strongest signals aren’t necessarily the ones using the most battery power. Design of aspects, such as the antenna, contribute to power efficiency.

We also offer ad-hoc beacon battery use testing.

Practical Bluetooth AoA Direction Finding Tips

Bluetooth Angle of Arrival (AoA) uses the phase difference of the radio signal hitting multiple antenna to calculate the elevation and azimuth angles to the beacon.

The accuracy is affected by physical aspects and the way the signals are processed. It varies from the order of a few centimetres to about a metre.

Here are some tips to maximise AoA accuracy:

  • Avoid metal objects close to the locators. Try getting better accuracy by adding boxing above locators to move them away from items such as metal beams.
  • Try to arrange that you have locators on all sides of a beacon. You ideally need locators all around the beacon. Accuracy is poor when the angle between beacon and locator is very large. This includes outside the perimeter of the locators where the angles get progressively larger.
  • The best, of the order of centimetres, accuracy is obtained when the beacon is close to a locator. If accuracy is particularly important, consider dropping the locators down with tall ceilings. Don’t drop too far as remember, from the last tip, accuracy is poor when the angle between beacon and locator is very large.
  • For an x, y z location, the worst accuracy is on up-down z axis. This is because all the locators are usually placed at the same height.
  • Accuracy is best when there’s line of sight between the beacon and locator. This favours the placing of locators on the ceiling/roof and beacons on top of items such as pallet loads.
  • While the physical room usually can’t be changed, be aware when testing that an enclosed space such as an office has more reflections and hence less accuracy than, for example, a warehouse.
  • For most systems, adding more locators in the same area produces more location angles that can be used to calculate a more accurate beacon position. Also try to stagger the locators so they are not in line. More data also means systems can also average the data to mitigate radio noise. However, more data means the location engine supports fewer beacons.
  • Another way to average more data, without stressing the location engine, is to filter over time. However, this increases the latency when receiving location updates.
  • Accuracy varies depending on the beacon orientation. The orientation that gives the best accuracy for one direction, say x, isn’t necessarily the best for y. While there’s usually nothing you can do about this, in some controlled scenarios you can arrange fix the beacon orientation to improve accuracy in a particular direction.
  • Too many beacons, in the same area, advertising too regularly causes Bluetooth packet collisions and loss of radio signal reaching locators. Large beacon populations require a longer beacon Bluetooth periodic advertising period that also has the affect of allowing the system to support a larger maximum number of beacons.
  • Accurate site and anchor measurement is important. Inaccurate initial measurement is a common cause of poor system accuracy. Use a laser measure. If you finding it difficult to measure the x, y location of a locator high up, fix a plumb bob line and measure the location at floor level.

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Using Bluetooth Mesh and Space, Time, Frequency Diversity to Improve Locating Accuracy

There’s new research from the Department of Electrical Engineering, University of North Texas, USA on Measurement and Analysis of RSS Using Bluetooth Mesh Network for Localization Applications. The paper explains how received signal strength (RSSI) based solutions have accuracy limitations in radio multipath (radio reflective) environments. It describes a solution that improves accuracy using Bluetooth mesh and Bluetooth channel-based processing.

Bluetooth and WiFi Channels

A system was created that exploits the space, time, and frequency diversities in measurements. Different Bluetooth channels have different fading effects.

Advertising was modified to make it Bluetooth channel-aware to be able to differentiate the fading effects. It was possible to reduce the residual fitting errors in the path loss models by using a space-time-frequency diversity combining scheme.

The system was demonstrated using ESP32 BLE modules.

The system significantly reduced the residual linear regression fitting errors in path loss models. It was able to more accurately use RSSI to measure the distance between the transmitter and receiver. The researchers demonstrated it’s possible to implement the proposed multi-receiver configuration and the diversity combining scheme using commercial off-the-shelf standard BLE devices.