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

The Bluetooth special interest group (Bluetooth SIG) has introduced a new feature for highly accurate localization called 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 studies are constrained to only indoor environments or performed with hardware emulation of Bluetooth 5.1 via Universal Software Radio Peripherals (USRPs). To address these limitations, in this paper, we perform an experimental study on the positioning accuracy of Direction Finding using COTS Bluetooth 5.1 devices in both indoor and outdoor environments to provide insights on the performance gap between these heterogeneous experimental settings. Our results demonstrate that the average angular error in an outdoor environment is 0.28^◦, 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.