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Abstract-A lot of proximity related Bluetooth applications, such as Bluetooth indoor positioning/navigation and proximity detection, has emerged on market by using Received Signal Strength Index(RSSI). One of the key technology in these application is to estimate distance between Bluetooth devices. In this paper, a distance estimation algorithm is proposed for Bluetooth devices. The RSSI values are first processed using median filter, and then converted to distance values. Finally, Kalman filtering is applied to further reduce noise. Our experiments show that our algorithm has average accuracy of 0.1~0.4m.

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