Method for Improving Indoor Positioning Accuracy Using Extended Kalman Filter

Figure 8

Configuration of BS. iBeacon Specification [26]: (i) Model: Estimote model REV.D3.4 Radio Beacon. (ii) CPU: 32-bit ARM® Cortex-M0. (iii) Frequency range: 2400–2483.5 MHz. (iv) TX-receptions (RX) channel separation: 2 MHz. (v) Sensitivity: −93 dBm. (vi) Range: up to 70 m. (vii) Upgrade: over-the-air firmware and security upgrades.