System and method for indoor localization using beacons

A method, performed by one or more processors, comprising:

• obtaining floor plan information of a building, wherein the floor plan information identifies locations of a plurality of rooms including a first room;
• receiving, at a mobile node, a plurality of beacon signals from a respective plurality of beacon devices;
• calculating a plurality of estimated locations of the mobile node based on beacon signal strengths received from the plurality of beacon devices by the mobile node and based on estimated positions of the plurality of beacon devices;
• based on the plurality of estimated locations of the mobile node, determining an estimated region of movement of the mobile node;
• comparing the region of movement to the floor plan information of the first room including the plurality of beacon devices;
• and
• changing the estimated position of at least one of the beacon devices based on the comparison of the region of movement to the floor plan information.

A method of determining a beacon location, performed by one or more processors, the method comprising:

• receiving, at a mobile node, a first beacon signal from a first beacon device and a second beacon signal from a second beacon device;
• based on a first received signal strength of the first beacon signal, determining whether the mobile node is proximate to the first beacon device;
• based on a second received signal strength of the second beacon signal, determining a distance from the mobile node to the second beacon device;
• and
• in response to a determination that the mobile node is proximate to the first beacon device, updating an estimated position of at least one of the first beacon device and the second beacon device using the determined distance as a distance measure between the first and second beacon devices.

A method comprising:

• obtaining floor plan information of a building identifying:
• (i) locations of a plurality of rooms including a first room, and (ii) locations of a plurality of areas within one or more of the plurality of rooms including at least a first area within the first room;
• receiving, at a mobile node, beacon messages from a plurality of beacon devices, including at least a first beacon message from a first beacon device in the first room, the beacon messages including a room identifier and a beacon device identifier;
• determining a number of detected beacon devices in the first room based on the received beacon messages;
• determining a number of detected beacon devices in the first area of the first room;
• and
• setting an initial estimated position of the first beacon device in the first area of the first room, the initial estimated position being determined at least in part by the number of detected beacon devices in the first room.