IEEE - 51525

IoT based 2D Indoor Navigation System using

BLE Beacons and Dijkstra’s Algorithm
2021 12th International Conference on Computing Communication and Networking Technologies (ICCCNT) | 978-1-7281-8595-8/21/$31.00 ©2021 IEEE | DOI: 10.1109/ICCCNT51525.2021.9580047

Ketan Ramaneti Nikita Mohanty Vinoth Babu Kumaravelu

School of Electronics Engineering School of Electronics Engineering School of Electronics Engineering
Vellore Institute of Technology Vellore Institute of Technology Vellore Institute of Technology
Vellore, India Vellore, India Vellore, India
ramanetiketan@gmail.com jessienikita@gmail.com vinothbab@gmail.com

Abstract— Global Positioning System (GPS) has made it TABLE 1.

very convenient for the world to move at a quick pace due to its
contribution in picking up locations, velocities as well as
providing time synchronization. Due to poor signal strength and
increased complexity involved in detailing, it is inefficient for
indoor navigation over outdoor navigation. Bluetooth Low
Energy (BLE) beacons-based positioning systems are used for
Indoor mapping instead. The proposed system intends on
establishing a 2D indoor navigation system by locating a user’s
position, acquiring the details of the destination of choice and
calculating a path for navigation. This is achieved using a
designed Indoor Positioning System (IPS) and Dijkstra’s
algorithm. The model also uses Internet of Things (IoT) edge
technology to enhance performance and provide a platform for
further analysis. An academic block of our university is
considered as the testbed for the system and the obtained
experimental results are discussed.
Keywords— Indoor navigation, Dijkstra’s algorithm,
Bluetooth Low Energy (BLE), Weight Centroid (WC)
localization, Affinity Propagation Clustering (APC), Edge IoT
I. INTRODUCTION
The rapid increase in smart devices and technologies,
increased the requirement of Location Based Services (LBS).
Many of the navigation services like tracking systems,
navigation-based advertisement, searching an indoor object
etc. are based on LBS and Global Navigation Satellite System
(GNSS). Different agencies across the world, developed
various GNSS for variety of services. Few of them are listed
in Table 1. Since GPS is efficient in providing required geo-
locations, it is widely preferred in consumer products. As per
the experiments conducted, it is proved that GPS is not
effective for enclosed areas, since satellite signals are
attenuated more than 1 dB per meter of the enclosed area [1].
LBS has become an essential requirement for indoor systems
like academic institutes, shopping malls, hospitals etc. Due to
weak signal reception, conventional GPS is not suitable for
indoor environments. To overcome this issue, various wireless
standards like Bluetooth, Wireless-Fidelity (Wi-Fi), Radio
Frequency Identification (RFID) and ultrasonic waves have
been suggested for indoor environments [2,3]. To measure the
quality of wireless signals, various parameters like received
signal strength (RSS), Direction of Arrival (DoA) and Time
of Arrival (ToA) are used by IPS. Due to simpler
implementation and not requiring extra hardware, Received
Signal Strength (RSS) is preferred by many of the IPS.
Various GNSS developed across the world.
GNSS AGENCY
GPS United States Department of
Defence (USDOD)
GLONASS Russia
GALILEO European Union
Bei Dou Satellite Navigation China
System
The characterization of indoor environment is more
complicated than outdoor. Hence, modelling the radio signal
propagation is not easy for IPS [2]. There is no proper
guidelines for designing the IPS. The real-time IPS should
have simpler implementation, higher accuracy, feasible cost,
scalable, robust and computationally less complex. The pros
and cons of various IPS approaches are compared in [4]. The
solutions for smart phone based IPS, which is based on Wi-Fi
and BLE signal sources is also analysed.
Dijkstra’s algorithm is effective in finding the shortest
path between source and destination nodes in a weighted
graph data structure. Weighted graph data structure consists of
various nodes connected by multiple weighted edges, which
denotes the distance between the connecting nodes. The
algorithm finds distances between the source node and all
other nodes. Once the shortest path between the source node
and destination node is calculated, the algorithm can be
stopped to save computational power by avoiding calculation
of shortest distance to the other nodes. The algorithm
identifies an unvisited node which is connected to source node
with least distance. It calculates the distance through each
unvisited neighbour and updates the shortest distance. This
algorithm can also be used to find shortest distance between
two places, which are connected by road. Google Maps is a
well-known and typical application of Dijkstra’s algorithm
[5].
In this work, an indoor navigation system to acquire user’s
position via user’s mobile phone is proposed. The shortest
path between the current position of the user and destination
is calculated through Dijkstra’s algorithm. We studied various

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works related to the model to have a better understanding as
presented in Section II. Section III.A discusses working of the
IPS used in the proposed method and Section III.B discusses
the path calculation between the source location and
destination of the user. The experimental results carried out
are discussed in Section IV. Section V includes the conclusion
drawn about the proposed method and lists future works to
improve the same.
II. RELATED WORKS
A high accurate vehicle positioning mechanism is
introduced in [6] to locate vehicles within a low height, large
space ship cabin. As per the cabin dimensions, a multiple-
camera positioning model is recommended. The system is
divided into three sub models including a vehicle positioning
module, a license plate recognition module, and a displaying
module. The proposed model is capable of positioning three
vehicles at a time with an accuracy of 94%.
In [7], a vision system to extract 3D information and
feature point from images in an order is proposed. The
proposed system works on feature point detection from the
images, matching the features with distinct image frames
provided, point estimates and orientation of vision system
during navigation as well as fine-tuning the position for
accuracy. The estimation of motion was carried out using
Random Sample Consensus (RANSAC) based method on
indoor and outdoor environments.
The system proposed in [8] incorporates Unmanned
Aerial Vehicles (UAVs) with high resolution cameras to track
location and failure recovery localization. It compares images
in a dataset with visuals provided from the geo-cited
satellites. Its implementation revolves around Scale-Invariant
Feature Transform (SIFT) detector, RANSAC and feature
group marking.
Marker based and marker less IPS using Augmented
Reality (AR) are compared and presented in [9]. A
comprehensive study on marker less indoor navigation based
on GPS, BLE, Wi-Fi and visible light communication (VLC)
and marker based indoor navigation based on AR and natural
feature tracking are discussed.
A Time of Flight (ToF) based wireless indoor navigation
system (TWINS) is proposed in [10] to estimate the position
of smart devices through Wi-Fi hotspots. This work also
discusses ToF based smart device tracking system and
estimates position of ToF.
An IPS based on fingerprinting with BLE beacons is
proposed in [11]. This scheme constructs a fingerprint map
using 19 beacons and estimates the position of user. Through
results, it has been shown that BLE beacons are preferred
over Wi-Fi hotspots to calculate positioning. However, the
environmental effects like multipath fading, noise,
interference and shadowing cause fluctuating RSS and results
in inaccurate positioning.
In [12] and [13], it is suggested to use Inertial
Measurement Unit (IMU)-based Pedestrian Dead Reckoning
(PDR) positioning in addition to Wi-Fi positioning to give
better accuracy. IMU-based navigation introduces
accumulated drift error. This error is removed by Wi-Fi based
positioning.
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Most of the smart phones have a 2D floor map user
interface, which routes to the destination. The restriction in
this interface creates confusion and mental pressure to the
users. In [14], an AR-based indoor navigation system
(ARBIN) is developed to post navigation instructions of real-
world on the screen of smart phones. Through multiple
experiments, it is proved that ARBIN achieves 3 to 5 m
accuracy and more suitable for large buildings. But the real-
world landmark objects are not included.
Before the usage, IPS requires calibration. The
conventional calibration approaches use Wi-Fi, RFID and
ultra-wideband (UWB) etc. A mobile robot is used in
calibration of visible light positioning system [15]. The
mobile robot collects data and obtains environmental map
with the locations of beacon. This approach reduces the error
by half. This approach shows better accuracy.
In contradiction to [15], a low-cost localization approach
for real indoor environments is proposed in [16], which does
not need calibration process. The receiver is equipped with
electronically steerable parasitic array radiator (ESPAR)
antenna. The localization is based on RSS. The low-cost BLE
nodes are installed on the test walls, which acts as reference
nodes. Through experiments, it is proved that the scheme
proposed offers better positioning results than conventional
fingerprinting methods.
The mentioned works propose various methodologies to
design IPS. They use various technologies such as IMU, Wi-
Fi, BLE, high resolution cameras for IPS. However, these
works produce IPS with varied accuracies, which cannot be
solely relied upon for application purposes.
In this paper, we extend these works on IPS for an indoor
navigation system, which is useful in environments such as
hospitals, airports, universities, malls etc. The proposed
method analyses various works on IPS and classifies the best
IPS to deploy based on discussed factors. We propose a nodal
based approach for the navigation system, which works well
with developing IPS systems, since our system is not entirely
dependent only on the accuracy of IPS.
III. PROPOSED METHODOLOGY
In this work, a two-phase mobile based 2D Indoor
navigation System is proposed. During first phase, the current
position of the user is identified. In second phase, the user is
navigated to desired direction. Additionally, a server is set up
for storing the data, which can be used for further analysis.
This model consists of three components-smart phone, Radio
Frequency (RF) node and LBS server. The present
environmental status is sensed through smart phone. RF node
is placed inside the building, which assists positioning. LBS
server communicates smart phone and provides user’s current
positions and indoor map details.
In recent years, Wi-Fi and BLE beacons-based positioning
are performing better than GPS for indoor environments.
Table 2 shows a comparison between Wi-Fi and BLE
technology based IPS.
 IEEE - 51525

TABLE 2. Dijkstra’s algorithm in the proposed system in its second

Comparison of Wi-Fi and BLE technologies for IPS [4]
PARAMETERS WI-FI BLE
Cost for deployment Less Higher
Access Point (AP) Non dedicated Dedicated
reliability for IPS
Hardware efficiency Requires ≥ 3s to scan Requires a second to
in terms of scanning scan
Coverage range Higher (~50m) Lower (~30m)
Energy consumption Higher Lower
Power source Main power supply Coin shaped batteries
Availability of radio 3 independent 3 advertisement
channels channels at 2.4 GHz channels
Detection of Direct estimation of Estimation of near,
proximity devices final location immediate and far
locations
Platform for Android only Android and iOS
implementation
The studies in [17,18] proves that BLE offers higher
positioning accuracy than Wi-Fi. In [19], it is shown that BLE
based positioning has higher signal resolution than Wi-Fi. As
per Table 2, BLE oriented positioning can scan for every
second, whereas Wi-Fi oriented positioning takes 3-4 seconds.
It also indicates that BLE has better proximity detection than
Wi-Fi signals. BLE uses a battery which helps in
uninterrupted navigation during power outages and
emergencies while Wi-Fi fails to do so, because it runs on
electric power supply. Other factors from Table 2 such as AP
reliability, power consumption and implementation platform
prove that BLE is a better choice than Wi-Fi for IPS. Although
Wi-Fi performs better when it comes to deployment cost and
transmission range, they are outnumbered by the other
mentioned reasons thus making BLE a better choice.
BLE generates RF signals and standard signal
measurement principles can be used to measure the power
present in the received signal. Angle of Arrival (AOA),
Channel State Information (CSI), Time Difference of Arrival
(TDOA), TOA and RSS are some of the well-known
principles that can be used for computation. To determine the
position after signal measurement, several positioning
algorithms can be implemented. Some of the prominent
positioning algorithms intended to solve IPS problems include
proximity-based localization, lateral/angular positioning,
fingerprinting localization, weighted centroid localization,
trilateration, triangulation, fingerprinting localization,
deterministic fingerprinting localization, probabilistic
fingerprinting localization, and neural network based
fingerprinting localization. In the survey [4], analysis of
localization techniques was done, and it was concluded that
fingerprinting localization is widely used as a localization
technique. Table 3 in [4] shows the performance metrics and
methods used for various proposed IPS. On analyzing the
table thoroughly, we decided that the IPS proposed in [20]
outperforms other IPS systems compared in the Table 3 of [4].
Therefore, in this paper, the user’s position is determined
using the IPS system model discussed in [20].
In order to find shortest path between two locations,
Google map uses Dijkstra’s algorithm [5]. Our system
requires a similar approach, hence we decided to use
phase to find the path between the user’s current location and
his desired location.
For our model, we use a 2D blueprint of the indoor
environment to exhibit the mapping system with important
locations within the vicinity such as numbered rooms,
washrooms, auditoriums etc., marked as nodes on the
blueprint. Since dimensions of the indoor environment are
known, the distance between the nodes can be determined.
Therefore, weighted edges can be drawn between these nodes
according to the path between them.
A mobile app is built to help navigate the user to his
preferred location. After the identification of position of user
through phase 1, the user can find the desired location via
mobile app in phase 2. The user’s present position is
considered as a node. Using this information and destination
details, Dijkstra algorithm identifies the shortest path. It also
displays the blueprint of the map in mobile app and provides
navigation.
In order to accommodate multiple user devices and
multiple requests made by them, IoT Edge computing is used.
The IPS algorithm runs on an edge device situated in the LBS
server to calculate the current position of the user. After the
current position is determined, it is stored in the cloud under a
unique ID corresponding to the user. Once the user selects his
preferred destination, the current position is retrieved from the
cloud and Dijkstra’s algorithm runs on another edge device,
which in this case is the smartphone-based app to compute the
path for navigation. The framework of the proposed system is
described using Fig. 1. Detailed description and working of
the proposed model are explained phase wise in sections A
and B.
Fig. 1. Proposed indoor navigation system
A. IPS
In order to find the position of the user, we use IPS model
proposed in [20]. The IPS mentioned in [20] has a good
accuracy of 1.06mm high precision of 95% (1.5m), moderate
complexity, good scalability in 2D, good robustness and
medium cost [4], which satisfies all the features required for a
good IPS design. The proposed system is divided into two
distinct phases, namely a training/offline and a testing/online
phase. In the training phase, the IPS is trained to locate the
user’s position using known locations of reference points (RP)
and AP of the beacons, whereas in the testing phase, the IPS
is deployed to anticipate the location of the user.

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A graphical representation of the indoor environment is
used as the testbed and a coordinate system is built in it with
the locations of the beacons and APs noted. In addition to
average RSS, the IPS utilises APC along with WC fingerprint
localisation so as to improve the accuracy of positioning. The
entire testbed is divided into several clusters employing the
APC in lieu of storing the RSS from all the AP. Subsequently,
the RSS from u out of B beacons that are closer to location of
the device is translated to distances from proper propagation
model. To find the WC of nearby u beacons, The distances
between the devices and APs are converted and represented as
their respective weights which are then used along with the
known locations of the beacons to estimate the same at each
RP. An RP’s fingerprinting data is inclusive of the evaluated
WC, average RSS, and rank of nearby u beacons besides the
real location of the RP. Organizing and grading beacons
according to their descending RSS value is known as rank of
beacons and the first u beacons are nominated as nearby u
beacons from the ordered list. Fig. 2 depicts the process flow
of the phase.
Fig. 2. Process Flow of proposed fingerprinting IPS [4]
After the training phase, the system is deployed for testing
and application purposes. In the use case, the IPS algorithm
runs on an IoT edge node, which is situated in the LBS server,
and the final predicted location of the user is sent and stored
in the cloud database under a unique ID with respect to each
user. After the user selects his desired destination, it is also
sent to the cloud database and a request is sent to the cloud in
order to calculate the navigation path using Dijkstra’s
algorithm and display it on the mobile app. The purpose of
sending and storing information regarding the users is to
perform further analysis such as deducing the most frequently
visited room/area, in case of emergencies etc.
B. Navigation
As stated earlier, the navigation system works on
Dijkstra’s algorithm. [5] depicts that Google’s navigation
system uses Dijkstra’s algorithm, but [21] shows that google
updated the algorithm and started using A* algorithm, which
is similar to Dijkstra’s algorithm, but is preferred over
Dijkstra’s algorithm because of its flexibility, efficiency and
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faster computation of shortest path when dealing with
mammoth graphs thus suiting the case of google maps which
deals with huge data and consequently a myriad number of
nodes. For an indoor environment, the number of nodes is
limited hence the graph is simpler in comparison. Therefore,
Dijkstra’s algorithm can be used in case of indoor
environments.
In the proposed system, the 2D blueprint of the indoor
environment is used and represented graphically. The
coordinate system is the same as the one used in the testbed
of the IPS system. The graphical representation of the map is
built in the offline method manually by:
• Marking every important place or places with high
probability of usage such as washrooms, numbered
rooms, auditoriums etc. as nodes.
• Considering every deviation of a straight path with
turns as a node.
• Connecting the nodes with edges only, if a walkable
path exists between them. As the dimensions of the
environment are known, weights are given to the
edges.
After determining the location, the user is immediately
prompted to choose his/her destination from a drop-down
box. To find the navigation path, the two nearest nodes to the
user’s current location are determined using the known
locations of the nodes. Out of these two nodes, the nearest
node to the destination node is considered as the source node
and the selected destination as the destination node, while
applying Dijkstra’s algorithm. This step prevents path
redundancy. The node closer to the user need not be
necessarily closer to the destination. The final navigation path
is calculated using Dijkstra’s algorithm and displayed on the
app.
The destination node should be one of the marked nodes.
Therefore, the manual marking of nodes must be carefully
done such that it covers all the probable destinations.
Increasing the number of nodes helps in building a precise
and detailed navigation system. At the same time, adding
unnecessary nodes might lead to complex and false
navigation. If the desired location is not identified by the user,
he/she can send a feedback message, which is also stored in
cloud. In cases of any temporary discrepancies in the path due
to renovations, blockage, denied access etc. the respective
path which is a connecting edge can be removed and the
Dijkstra’s algorithm can adapt to these changes to find a new
path. The analysis using the cloud integration helps resolve
such issues in future updates by notifying about the missing
destination nodes or non-accessible paths. Fig. 3 lays out the
system flow of the phase.
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B. IPS and Navigation Path

The user is prompted with the list of destinations to
choose from. Once the user chooses his/her destination, the
source node is selected accordingly. The shortest path
between source and destination nodes is calculated using
Dijkstra’s algorithm. The IPS algorithm runs on the LBS
server which is an IoT edge node. Fig. 5 highlights the
location choices provided for the experiment and deduction
of path to the chosen destination.

Fig. 3. System flow for path calculation

IV. EXPERIMENTS AND RESULTS

A. Test of the Indoor System
For experimental testing of the system, we used the
blueprint of the ground floor of one of the academic blocks of
our university as a testbed. In the offline phase, manually, a
total of 17 nodes were marked and labelled as N0, N1, N2…
N16. Each node corresponds to a place in the indoor
environment such as N0 for main entrance/exit, N3 for
Gallery-1 etc. With the known dimensions and paths of the
environment, weighted edges were drawn between the nodes.
The testbed with nodes and edges is shown in Fig. 4.
Fig. 5. Output of system
The final output in the figure consists of the nearest
detected node to the user’s position and a list consisting of
node indices in the order of navigation based on the nearest
node to the destination. These nodes are connected on the
testbed and displayed to the user via mobile app. The final
navigation path is showcased in Fig. 6.

Fig. 4 Nodes and Weighted Edges of the Testbed

Since indoor environments consist of corridors, where
rooms are situated on either side, a single node can represent
multiple locations. For example, as shown in Fig. 4, N14 can
represent the locations of room no. 21 as well as room
no.18,19. As a result there are 17 nodes in the test bed and 24
probable destinations in the dropdown list.
Fig. 6. Final navigation path
C. Cloud Storage
The collected data is stored real-time on the cloud for
further analysis in order to provide better user experience. The
data of the prototype of the proposed system is stored in the
Firebase’s Cloud Storage. The database collection is shown in
Fig. 7.

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Fig. 7. Database collection in Firebase
As depicted in Fig. 7, the cloud storage consists of source
node, destination node and the navigation path with respect to
each user. Considering the privacy of the users, the live
location of the user is not stored in our current system, which
might change in future updates of the system based on the
applications. Additionally, the reports and feedback from the
users are also stored which can be analysed for improving the
user's experience.
V. CONCLUSION AND FUTURE WORK
In this paper, we presented an IoT based 2D indoor
navigation system that works on the principle of Dijkstra’s
algorithm. The IPS in the proposed system uses BLEs to
calculate the current position of the user. The IPS works on
combined principles of WC localization, RSS value and APC.
Once the current location of the user is identified, the
navigation path is calculated using Dijkstra’s algorithm and is
then displayed to the user via mobile app. Furthermore, our
system uses IoT edge technology where data is sent to the
cloud. Analysis such as most frequent destinations, entry
points etc. and narrowing down any user’s location in case of
emergencies can be performed using the stored data which
assists in improving the system in future updates. Experiments
were performed using a blueprint of the ground floor of our
university’s academic block and the experimental results of
IPS, navigation path calculation and cloud storage were
shown.
Our system is limited to 2D navigation with low quality of
experience to the user. It is limited to a single floor usage
within an indoor environment. Custom destinations cannot be
entered by the user, the destination must be chosen from the
drop-down list. A 2D map is displayed to the user with no
proper guidance to reach his/her destination. The system
cannot be built without a blueprint of the intended
environment and its dimensions.
In the future, we aspire to further develop our system by
building a 3D system with the help of AR to improve user
guidance for navigation and make it a large-scale model. Our
system lacks a good user interface app, which we intend to
build along with voice assistance features for an improved
user’s experience. We also intend to use advanced data
analytics methods to analyze the user’s data and automatically
take necessary actions accordingly.
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