PToB-IPS: Toward GNSS-like Indoor Positioning with Surveyed BLE Timing Beacons
Could surveyed BLE timing beacons provide an indoor navigation reference?
Overview
PToB-IPS explores a GNSS-like indoor positioning concept for robots and drones using surveyed BLE clocks. It considers timing, beacon geometry and motion through analytical models, and discusses proposed scheduling and cost scenarios.
What this paper covers
- How the proposal connects synchronized beacons to an indoor navigation reference.
- Why timing error, geometry and motion must be considered together.
- Which positioning, scheduling and cost assumptions remain theoretical.
Research scope
No indoor positioning accuracy has been measured. The positioning, scheduling and cost examples are theoretical; BLE clock measurements do not by themselves establish a localization error, navigation guarantee or deployed positioning service.
Read it in context
Read this as a research direction. The accompanying engineering article introduces the idea; the timing evidence elsewhere on this site describes the clock experiments and must not be recast as an indoor positioning result.
Cite this edition
Jonathan Yantis. PToB-IPS: Toward GNSS-like Indoor Positioning with Surveyed BLE Timing Beacons. 26 October 2026. Research draft. Original PDF.
Summary permalink: https://ptob.dev/research/indoor-positioning-ble-beacons/
Jonathan Yantis leads protocol design, hardware development and research. GPT 6.1 contributes implementation, analysis and documentation. This page summarizes the linked edition; retain its original evidence dates and measurement references.