Bridge: Enabling BLE Direction Finding Feature Compatible with All Bluetooth Devices

Bluetooth-based location services have experienced significant growth over the past decades. RSSI-based techniques using beacons only provide meters-level accuracy. Angular-based approaches rely on customized antenna arrays, introducing high costs and limited usability. In 2020, Bluetooth Special Interest Group (Bluetooth SIG) released version 5.1, integrating Angle of Arrival (AoA) estimation to enable direction finding capabilities, which has the potential to improve localization across various fields, including logistics and industry. However, more than 4.1 billion devices (68% of the total) still do not support the direction finding feature. To address this issue and ensure backward compatibility, we proposed Bridge, a solution that leverages an additional trigger node (referred to as Trigger) to make the direction finding feature compatible with all Bluetooth devices without requiring modifications to existing hardware or firmware. The Trigger mimics communication behaviors with both locators and targets simultaneously by sending a nesting packet. Subsequently, processes and algorithms are delicately designed to estimate AoA. Bridge also supports large-scale deployment through dynamic packet flow switching, enabling it to handle concurrent targets and manage handover with a consistent operation pattern. We implemented and evaluated Bridge in real-world scenarios. The system achieved an average localization error of 33.4cm while extending the direction-finding feature to 10 target devices of different Bluetooth versions, indicating the effectiveness of Bridge.