{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,26]],"date-time":"2025-11-26T16:27:56Z","timestamp":1764174476773,"version":"build-2065373602"},"reference-count":29,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2018,1,20]],"date-time":"2018-01-20T00:00:00Z","timestamp":1516406400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Key Research &amp; Development Program","award":["2016YFB0502001","2016YFB0502003"],"award-info":[{"award-number":["2016YFB0502001","2016YFB0502003"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Research on indoor positioning technologies has recently become a hotspot because of the huge social and economic potential of indoor location-based services (ILBS). Wireless positioning signals have a considerable attenuation in received signal strength (RSS) when transmitting through human bodies, which would cause significant ranging and positioning errors in RSS-based systems. This paper mainly focuses on the body-shadowing impairment of RSS-based ranging and positioning, and derives a mathematical expression of the relation between the body-shadowing effect and the positioning error. In addition, an inertial measurement unit-aided (IMU-aided) body-shadowing detection strategy is designed, and an error compensation model is established to mitigate the effect of body-shadowing. A Bluetooth positioning algorithm with body-shadowing error compensation (BP-BEC) is then proposed to improve both the positioning accuracy and the robustness in indoor body-shadowing environments. Experiments are conducted in two indoor test beds, and the performance of both the BP-BEC algorithm and the algorithms without body-shadowing error compensation (named no-BEC) is evaluated. The results show that the BP-BEC outperforms the no-BEC by about 60.1% and 73.6% in terms of positioning accuracy and robustness, respectively. Moreover, the execution time of the BP-BEC algorithm is also evaluated, and results show that the convergence speed of the proposed algorithm has an insignificant effect on real-time localization.<\/jats:p>","DOI":"10.3390\/s18010304","type":"journal-article","created":{"date-parts":[[2018,1,22]],"date-time":"2018-01-22T04:51:13Z","timestamp":1516596673000},"page":"304","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":16,"title":["An IMU-Aided Body-Shadowing Error Compensation Method for Indoor Bluetooth Positioning"],"prefix":"10.3390","volume":"18","author":[{"given":"Zhongliang","family":"Deng","sequence":"first","affiliation":[{"name":"School of Electronic Engineering, Beijing University of Posts and Telecommunications, Beijing 100876, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0221-0063","authenticated-orcid":false,"given":"Xiao","family":"Fu","sequence":"additional","affiliation":[{"name":"School of Electronic Engineering, Beijing University of Posts and Telecommunications, Beijing 100876, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8930-1082","authenticated-orcid":false,"given":"Hanhua","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Electronic Engineering, Beijing University of Posts and Telecommunications, Beijing 100876, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2018,1,20]]},"reference":[{"key":"ref_1","unstructured":"ABI Research (2015, May 12). 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