BmmW: A DNN-based joint BLE and mmWave radar system for accurate 3D localization with goal-oriented communication

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Bluetooth Low Energy (BLE) has emerged as one of the reference technologies for the development of indoor localization systems, due to its increasing ubiquity, low-cost hardware, and to the introduction of direction-finding enhancements improving its ranging performance. However, the intrinsic narrowband nature of BLE makes this technology susceptible to multipath and channel interference. As a result, it is still challenging to achieve decimetre-level localization accuracy, which is necessary when developing location-based services for smart factories and workspaces. To address this challenge, we present BmmW, an indoor localization system that augments the ranging estimates obtained with BLE5.1’s constant tone extension feature with mmWave radar measurements to provide 3D localization of a mobile tag with decimetre-level accuracy. Specifically, BmmW embeds a deep neural network (DNN) that is jointly trained with both BLE and mmWave measurements, practically leveraging the strengths of both technologies. In fact, mmWave radars can locate objects and people with decimetre-level accuracy, but their effectiveness in monitoring stationary targets and multiple objects is limited, and they also suffer from a fast signal attenuation limiting the usable range to a few meters. We evaluate BmmW’s performance experimentally, and show that its joint DNN training scheme allows to track mobile tags with a mean 3D localization accuracy of 10 cm when combining angle-of-arrival BLE measurements with mmWave radar data. We further assess two variations of BmmW: BmmW-Lite and BmmW-Lite+, both tailored for single-antenna BLE devices, which eliminates the necessity for bulky and expensive multi-antenna arrays and represents a cost-effective solution that is easy to integrate into compact IoT devices. In contrast to classic BmmW (which utilizes angle-of-arrival info), BmmW-Lite uses raw in-phase/quadrature (I/Q) measurements, and achieves a mean localization accuracy of 36 cm, thus facilitating precise object tracking in indoor environments even when using budget-friendly single-antenna BLE devices. BmmW-Lite+ extends BmmW-Lite by allowing the localization task to be transferred from the edge to the cloud due to device memory and power constraints. To this end, BmmW-Lite+ employs a goal-oriented communication paradigm that compresses initial BLE features into a more compact semantic format at the edge device, which allows to minimize the amount of data that needs to be sent to the cloud. Our experimental results show that BmmW-Lite+ can compress raw BLE features by up to 12% of their initial size (hence allowing to save network bandwidth and minimize energy consumption), with negligible impact on the localization accuracy.