  The Bluetooth Special Interest Group (Bluetooth SIG) introduced a new feature
for highly accurate localization called the Direction Finding in the Bluetooth
Core Specification 5.1. Since this new localization feature is relatively new,
despite the significant interest of industry and academia in the accurate
positioning of Bluetooth devices/tags, there are only a handful of experimental
studies conducted to evaluate the performance of the new technology.
Furthermore, these experimental works are constrained to only indoor
environments or performed with hardware emulation of Bluetooth 5.1 via
Universal Software Radio Peripherals (USRPs). In this paper, we perform an
experimental study on the positioning accuracy of the direction finding using
COTS Bluetooth 5.1 devices in booth indoor and outdoor environments to provide
insights on the performance gap under these different experimental settings.
Our results demonstrate that the average angular error in an outdoor
environment is 0.28 degrees, significantly improving the angular error measured
in an indoor environment by 73%. It is also demonstrated that the average
positioning accuracy measured in an outdoor environment is 22cm which is 39.7%
smaller than that measured in an indoor environment.
