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Bluetooth technology, once synonymous with wireless audio and peripheral connectivity, has quietly transformed into a critical enabler of the Internet of Things. Today, it is spearheading a revolution in positioning, redefining how we perceive and interact with space, particularly indoors. Technical Evolution: From Proximity to Precision with AoA/AoD The core of Bluetooth positioning lies in measuring distance and direction. Early methods relied on Received Signal Strength Indicator (RSSI), which estimates distance based on signal power. While simple and low-cost, RSSI is highly susceptible to environmental interference, offering accuracy only within 2-5 meters—sufficient for basic zone detection, like identifying when a customer enters a store section. A paradigm shift arrived with the Bluetooth 5.1 specification and its introduction of Direction Finding. This feature, enabled by Angle of Arrival (AoA) and Angle of Departure (AoD) techniques, pushed accuracy into the sub-meter and even centimeter range. AoA uses a single transmitter and an array of receiver antennas to calculate the signal's direction by analyzing phase differences. AoD operates conversely, using a transmitting antenna array. This precision fundamentally changed the game. Modern deployments often employ hybrid systems. Networks of Bluetooth Low Energy (BLE) beacons create a positioning infrastructure. These systems can be enhanced with fingerprinting (matching signal patterns to a pre-mapped database) and fused with Inertial Measurement Units (IMU) for smoother, continuous tracking....

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