Modelling the localization error of an AoA-based localization system

Indoor localization provides important context information to develop Intelligent Environments able to understand user situations, to react and adapt to changes in the surrounding environment. Bluetooth 5.1 Direction Finding (DF) is a recent specification based on angle of departure (AoD) and arrival (AoA) of radio signals and it is addressed to localize objects or people in indoor scenarios. In this work, we study the error propagation of an indoor localization system based on AoA technique and on multiple anchor receivers.