  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.
