Nowadays, indoor localization has received extensive research interest due to more and more applications' needs for location information to provide a more precise and effective service [1], [2]. There are various wireless techniques and mechanisms that have been proposed; some of them have been studied in depth and come into use, such as Wi-Fi, RFID, and sensor networks. In comparison, the development of Bluetooth location technology is slow and there are not many papers and surveys in this field, although the performance and market value of Bluetooth are increasing steadily. In this paper, we aim to provide a detailed survey of various indoor localization systems with Bluetooth. In contrast with the existing surveys, we categorize the exciting localization techniques that have been proposed in the literature in order to sketch the development of Bluetooth location compared to other technologies. We also evaluate different systems from the perspective of availability, cost, scalability, and accuracy. We also discuss remaining problems and challenges to accurate Bluetooth localization.

翻译：如今，由于越来越多的应用需要位置信息以提供更精确有效的服务，室内定位技术受到了广泛的研究关注[1],[2]。目前已有多种无线技术与机制被提出，其中部分技术如Wi-Fi、RFID和传感器网络已得到深入研究并投入应用。相比之下，尽管蓝牙的性能与市场价值稳步提升，但蓝牙定位技术的发展较为缓慢，相关论文与综述数量有限。本文旨在对基于蓝牙的各种室内定位系统进行详细综述。与现有综述不同，我们对文献中提出的现有定位技术进行分类整理，以勾勒蓝牙定位相较于其他技术的发展脉络。同时，我们从可用性、成本、可扩展性和精度等维度评估不同系统，并探讨实现精准蓝牙定位所面临的剩余问题与挑战。