Bluetooth Location Tracking (Trilateration) Calculator

To build a Bluetooth Location Tracking Calculator, we must understand that “tracking” (finding an exact $X, Y$ coordinate) is a two-step process:

1. Ranging (Distance Estimation): Calculating the distance from the target to multiple known reference points (anchors) using either RSSI or Channel Sounding (CS). Bluetooth Channel Sounding combines Round-Trip Time (RTT) and Phase-Based Ranging (PBR) to get highly accurate distances.
2. Positioning (Trilateration): Using geometry to intersect those distances into a 2D or 3D coordinate.

Bluetooth Location Tracking using Trilateration

Inputs Clear Input

Distance to Anchor 1, d1 (input1) :

Distance to Anchor 2, d2 (input2) :

Distance to Anchor 3, d3 (input3) :

X-coordinate of anchor 2, U (input4) :

X-coordinate of anchor 3, Vx (input5) :

Y-coordinate of anchor 3, Vy (input6) :

Outputs Calculate

X-coordinate of Position (output1) :

Y-coordinate of Position (output2) :

Bluetooth Device Location Tracking using Trilateration formula

Example Tracking Calculation:

Scenario: Imagine a warehouse with three Bluetooth anchors. Using Channel Sounding, we determine the distances to a forklift (the target). Three beacons are placed at known coordinates, and the distances to the forklift are measured as follows:

In 2D trilateration, the calculated distance from each anchor acts as the radius of a circle. The target is located exactly where the three circles intersect.

Inputs :

Here is a coordinate grid representing our specific example:

• Anchor 1 (A1): $(0, 0)$ with radius $d_1 = 5\text{m}$
• Anchor 2 (A2): $(10, 0)$ with radius $d_2 = 6.71\text{m}$ $(\sqrt{45})$
• Anchor 3 (A3): $(4, 10)$ with radius $d_3 = 7\text{m}$

Result: The forklift is exactly tracked to coordinates (4, 2.99) in the warehouse.

Explore More Bluetooth Calculators

• Bluetooth Range Estimation using RSSI Calculator
• Bluetooth Channel Sounding (CS) Ranging Calculator : Phase based Vs. RTT
• Bluetooth Direction Finding Calculator : AoA and AoD

Continue Learning Bluetooth Basic Concepts

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• Bluetooth pairing Vs. Bonding Phase
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• Bluetooth Direction Finding Methods : AoA Vs. AoD
• Bluetooth HID Over GATT
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• Bluetooth Error Codes Guide : Meanings, Causes & Fixes

Continue Learning Bluetooth Technology

• Bluetooth Basics Tutorial
• Bluetooth Low Energy (BLE) Basics Tutorial
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