Bluetooth Phased-array Aided Inertial Navigation Using Factor Graphs: Experimental Verification
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.
Keywords
Cite
@article{arxiv.2602.17407,
title = {Bluetooth Phased-array Aided Inertial Navigation Using Factor Graphs: Experimental Verification},
author = {Glen Hjelmerud Mørkbak Sørensen and Torleiv H. Bryne and Kristoffer Gryte and Tor Arne Johansen},
journal= {arXiv preprint arXiv:2602.17407},
year = {2026}
}
Comments
6 pages, 5 figures, 2 tables. \c{opyright} 2026 the authors. This work has been accepted to IFAC for publication under a Creative Commons Licence CC-BY-NC-ND