# An Experimental Study on Direction Finding of Bluetooth 5.1: Indoor vs Outdoor

arXiv: https://arxiv.org/abs/2103.04121 · HTML: https://mlsanity.com/paper/2103.04121/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 6 Mar 2021.

## Built on by (most cited first, 1 of 1)

- [MacroSwarm: A Field-based Compositional Framework for Swarm Programming](https://mlsanity.com/paper/2401.10969/) (2024)

## Abstract (arXiv)

The Bluetooth Special Interest Group (Bluetooth SIG) introduced a new feature for highly accurate localization called the Direction Finding in the Bluetooth Core Specification 5.1. Since this new localization feature is relatively new, despite the significant interest of industry and academia in the accurate positioning of Bluetooth devices/tags, there are only a handful of experimental studies conducted to evaluate the performance of the new technology. Furthermore, these experimental works are constrained to only indoor environments or performed with hardware emulation of Bluetooth 5.1 via Universal Software Radio Peripherals (USRPs). In this paper, we perform an experimental study on the positioning accuracy of the direction finding using COTS Bluetooth 5.1 devices in booth indoor and outdoor environments to provide insights on the performance gap under these different experimental settings. Our results demonstrate that the average angular error in an outdoor environment is 0.28 degrees, significantly improving the angular error measured in an indoor environment by 73%. It is also demonstrated that the average positioning accuracy measured in an outdoor environment is 22cm which is 39.7% smaller than that measured in an indoor environment.