FIELD OF THE INVENTION
[0001] The present invention generally relates to managing a closed
operational network, and more specifically, relates to a method and system to facilitate monitoring and tracking of assets, such as, pallets in a closed operational network (such as a warehouse).
BACKGROUND OF THE INVENTION
[0002] Location based services are rapidly expanding. Outdoor location
technologies are mainly based on GPS technologies. However, GPS technologies have a significant drawback. GPS cannot perform properly indoors and is therefore inadequate. As a result, indoor location systems are appearing in the market.
[0003] The need for having a location identification system arises from
various market segments. The most important segment is warehouse inventory management, where tracking and locating the pallet movement is of prime concern. Various systems using Wi-Fi received signal strength (RSS) and RFIDs are gaining popularity for tracking and locating pallet movement. However, such systems are unable to achieve the sub-meter accuracy required for many indoor wireless sensor networks (WSN) applications, such as personnel tracking.
[0004] For high-precision indoor localization, inventors are increasingly
looking at beacons. Beacons are sensors that send out Bluetooth low energy (BLE) tracking tags. These sensors may be placed around a venue and a mobile device can pick up the BLE signal and determine that if the sensor is in close proximity.
[0005] Beacons have the advantage of being inexpensive and easy to
deploy, and they can provide granular, proximity-based indoor location. This enables organizations to communicate to their consumers based on their precise location, and when combined with other indoor navigation technologies, may provide highly accurate tracking.
[0006] It is interesting to note that various companies in the past have
implemented various techniques demonstrating the IPS system using technologies, such as Wi-Fi, RFID, NFC and GPS. Table 1 as below provides a comparison of BLE based technologies as compared to various other technologies available in the market.

TECHNOLOGY COMPARISION

Table 1
[0007] Unfortunately, as it could peruse from Table 1, each of the
above-mentioned technologies have their own limitations, and businesses are required to choose the right combination according to their budget and objectives.

[0008] Until now, all standard Bluetooth location services solutions have
been developed using the same basic building block. They leverage the Bluetooth Low Energy radio to determine if two Bluetooth devices are in range of each other and, in many cases, use received signal strength (RSSI) measurements to estimate the distance between the two devices. That basic ability to determine whether another device is nearby, and accordingly, approximately its distance from each other, has led to the creation of a number of compelling Bluetooth location services solutions. As it will be evident to a person skilled in the art, these solutions generally fall into two categories: proximity solutions and positioning systems.
[0009] Bluetooth RTLS solutions are based on the deployment of
Bluetooth receivers, often referred to as Item finding solutions help consumers locate misplaced items. So long as the item is connected to a Bluetooth tag, an app on their smartphone will let them know if the item is nearby and approximately how close. Using a Bluetooth RTLS solution, key resources in a warehouse, like pallets, forklifts and workers, can be easily located and tracked back to contents bluetooth.com | 7 locators, in fixed locations throughout a facility.
[0010] Further, the locators connect back to a centralized server, often
referred to as a location engine. Low-power, battery-operated Bluetooth transmitters, commonly called tags, are then attached to all assets (or people) that the system is intended to track. The tags are programmed to transmit a signal on a periodic basis, the frequency of which is determined based on how mobile the tracked assets are expected to be, as well as how real time location estimates need to be. Each locator continually reports back to the location engine all tags it can hear, as well as the received signal strength (RSSI) from each.
[0011] Furthermore, the location engine uses that information, as well as
the known position of each locator, to estimate the position of tags based on a process called trilateration. Trilateration determines the position of an object by understanding its distance from three known reference points. In the case of Bluetooth, locators estimate their distance to any given asset tag based on the received signal strength from the tag
[0012] Bluetooth indoor positioning systems power way finding
solutions that help visitors, such as shoppers in a mall, travelers in an airport, or

workers in a large office building, navigate their way throughout a facility. Bluetooth IPS solutions work in the opposite way as RTLS solutions. Instead of Bluetooth receivers, Bluetooth transmitters, commonly referred to as locator beacons, are deployed in fixed locations throughout a facility. Visitors then use an app on their Location Engine Bluetooth asset tracking.
[0013] Further, the Indoor Positioning Systems (IPS) using Bluetooth
Low Energy (BLE) technology is currently becoming real and available, which has made them grow in popularity and use. However, there are still plenty of challenges related to this technology, especially in terms of Received Signal Strength Indicator (RSSI) fluctuations due to the behavior of the channels and the multipath effect, that lead to poor precision. We have a solution for that which is the use of techniques like Kalman Filtering and Machine Learning.
[0014] Accordingly, none of the above attempts have been successful in
creating an accurate location identification system which is cost effective and adaptable, based on BLE based technologies. Therefore, there is a high need of developing a BLE technology-based location identification system which circumvents the deficiencies of prior developed technologies.
[0015] US patent no. 9204257 discloses a method of mapping a
localized area using RF beacons to determine location of said beacons. The method includes deploying beacons in interiors of the enclosed structure; and broadcasting the beacon signal to obtain the known physical location of said respective beacon. The method is followed by determining an indoor map associated with a localized area. In addition, the method includes displaying the indoor map of the localized area on Bluetooth device and displaying current location of a mobile device on the localized area indoor map.
[0016] The above disclosed method is enabling location of a beacon,
however, does not provide navigation way point of a specific item or object. Also, the indoor mapping is done by internet or cellular communication and images of the same are downloaded before arriving to the area. This may cause inaccuracy in determining the location of the beacons.
[0017] Another system is disclosed in US patent no. 8847754. The said
system includes a locator device and a method for tracking said device. The said locator device includes a beacon which is configured to be located via a wireless

means. The said system further includes a mobile computing device (MCD). The said MCD includes a mobile application with radar screen feature, to display the distance of said locator device from the mobile device. The said mobile application calculates the distance of the locator device form the said MCD upon receiving at least one RSSI value from the beacon.
[0018] However, in above system, the mobile application uses radar
screen which only displays the beacons or objects, whether they are in range in or not. The said system does not display the direction and way points of the said beacons or objects. Besides, the signals are received through antennas, which may cause difficult to find the beacons in case of failure of the antennas.
[0019] Furthermore, Bluetooth location services are currently using
Received Signal Strength Indicator or RSSI to estimate the distance between two Bluetooth devices. In case of Real Time Locating Systems or RTLS and Indoor Positioning System or IPS solution, the said distance estimates to determine the position of the device. The said system does not detect the information about the direction of another device.
[0020] Coming back to the problem of warehouse management, there is
a major problem of finding a pallet in the warehouse system. As a pallet undergoes a butterfly movement inside warehouse, tracking the pallet becomes difficult. It takes too many manpower resources to find the pallet manually. Accordingly, there is a desirous need of improving the warehouse management system and help the smooth functioning of the warehouse by accurately finding and locating a pallet in the warehouse system.
[0021] Therefore, a system and method for tracking assets is required
which provides a picture of the area and increases the accuracy of locating the beacon. Further, there is need to develop a system which displays the waypoints and determines location of said beacons more accurately in terms of angle and distance of an object.
[0022] In addition, a system is required which provides alternate
method to find the desired beacon in case of failure of antennas. Further, there is need to implement a system which can detect the information about the direction of another device to improve location accuracy and provide user with almost accurate navigation capabilities.

[0023] Accordingly, what is needed is a process which can find a target
personnel (palette in our case) in a confined location (warehouse in our case), in a highly accurate and efficient manner.
SUMMARY OF THE INVENTION
[0024] In light of the above objects, the present invention provides a
method and system for finding a pallet in an enclosed storage warehouse environment.
[0025] The present invention proposes and implements a real Indoor
Positioning System and method of identification based on Bluetooth Low Energy. Such a system improves accuracy while reducing power consumption and costs.
[0026] In an aspect of the present invention, a method for finding a
pallet in an enclosed, having plurality of pallets, comprises attaching a Bluetooth low energy (BLE) beacon to each pallet. The beacon has a unique Bluetooth address and UUID code. The method further includes storing details of the pallets in a data processing unit. Further, the method includes scanning of the warehouse to create a 3D map and displaying the same on a mobile device of a user. The method is followed by searching a beacon of interest to identify the said beacon. The method is continued with determining a location of the identified beacon which is determined by calculating distance and angle of the beacon with respect to the position of the user, and displaying navigation waypoint of the beacon on the mobile device.
[0027] In one embodiment of the present invention, the method further
comprises identifying of the BLE beacon of interest by a set of antennae.
[0028] In one embodiment of the present invention, the method further
comprises enabling inbuilt Bluetooth transceivers of the said mobile devices for finding the said BLE beacon of interest. The steps for finding of the BLE beacon of interest comprise handshaking of the BLE beacons with plurality of mobile devices of users in the said warehouse.
[0029] The step further includes identifying locations of the said BLE
beacons by interacting with the said mobile devices of users. The step is followed by updating the said locations of the said BLE beacons in the said data processing unit. Further, the step is continued with providing the last updated location of the said BLE

beacon of interest to the user on the mobile device and displaying the navigation waypoint of the said BLE beacon of interest on the mobile device of the user.
[0030] In one embodiment of the present invention, the said Bluetooth
transceiver is activated when the said set of antennae fail.
[0031] In one embodiment of the present invention, the method includes
calculating distance and angle of the said beacon of interest by enabling a preset algorithm.
[0032] In aspects of the present invention, a system for finding a pallet
in a warehouse environment is disclosed. The system includes a plurality of pallets, each pallet having one or more goods or items thereon. The system further includes a plurality of BLE beacons, each BLE beacon being attached to each of the plurality of pallets.
[0033] The system further comprises a set of antennae coupled via
wireless network to the said BLE beacons. The said set of antennae is adapted to receive signals from the said BLE beacons, and identify the said BLE beacon of interest upon scanning.
[0034] The system further comprises, a data processing unit coupled via
wireless network to the set of antennae. The said data processing unit is adapted to store details of the BLE beacons attached to the plurality of pallets. Also, the said data processing unit calculates distance and angle of the said BLE beacon of interest.
[0035] Furthermore, the said data processing unit is adapted to receive
information from a mobile device of a user about a pallet of interest, and the said data processing unit is adapted to compute navigation waypoint of the pallet of interest and provide the said navigation waypoint to the mobile device of the user. In one embodiment of the present invention, the data processing unit calculates the distance and angle of the said beacon (100) of interest by enabling preset algorithms.
[0036] The system comprises a plurality of mobile devices coupled via
wireless network to the data processing unit. Each of the plurality of mobile devices is adapted to receive information about the location of the said BLE beacon of interest attached to pallet, and display the navigation waypoint of the said BLE beacon of interest to the user.
[0037] In one embodiment of the present invention, each BLE beacon
(100) has a unique Bluetooth address and UUTD code.

[0038] In one embodiment of the present invention, the said mobile
devices include an application to perform an operation of finding the said pallet.
[0039] In one embodiment of the present invention, the system further
comprises inbuilt Bluetooth transceiver in the said mobile device. The said inbuilt Bluetooth transceiver is adapted to handshake the BLE beacons with plurality of mobile devices of users in the said warehouse, and identify locations of the said BLE beacons by interacting with the said mobile devices of the users.
[0040] In another embodiment, the said Bluetooth transceiver is adapted
to update the said locations of the said BLE beacons in the said data processing unit. Further, the said Bluetooth transceiver provide last updated location of the said BLE beacon of interest to the user on the mobile device, and display navigation waypoint of the said BLE beacon of interest on the mobile device of the user.
[0041] In one embodiment of the present invention, the said Bluetooth
transceiver is activated when the said set of antennae fail.
[0042] In one embodiment of the present invention, the system
comprises a 3D scanner adapted to create a 3D map of the warehouse.
[0043] Furthermore, the present invention has proved that the system as
disclosed is scalable and efficient in terms of cost and power consumption. The implemented approach allows using a very simple device (like a Sensor Tag) on the assets to locate.
[0044] These aspects together with other aspects of the present
invention, along with the various features of novelty that characterize the present invention, are pointed out with particularity hereto and form a part of this present invention. For a better understanding of the present invention, its operating advantages, and the specific objects attained by its uses, reference should be made to the accompanying drawing and descriptive matter in which there is illustrated an exemplary embodiment of the present invention.
DESCRIPTION OF THE DRAWINGS
[0045] The advantages and features of the present invention will
become better understood with reference to the following detailed description taken in conjunction with the accompanying drawings, in which:

[0046] Fig.l herein depicts a flowchart showing a method for finding a
pallet in an enclosed storage warehouse environment, according to various embodiments of the present invention;
[0047] Fig.2 herein depicts a flowchart showing various steps involved
in a fail-safe methodology employed in the method of finding the pallet in the said warehouse environment, according to various embodiments of the present invention;
[0048] Fig.3 herein depicts a block diagram of a system for finding the
pallet, according to various embodiments of the present invention;
[0049] Fig.4 herein depicts a block diagram of a fail-safe mechanism
employed in the said system, according to various embodiments of the present invention;
[0050] Fig.5 herein depicts a schematic representation of identification
of a Bluetooth device, according to various embodiments of the present invention;
[0051] Fig.6 herein depicts a schematic representation of an
environment where the present invention is deployed, according to various embodiments of the present invention;
[0052] Fig.7 herein depicts a schematic view of a system to facilitate
monitoring and tracking of pallets in a closed operational network, which includes a set of antennae and Bluetooth BLE (Bluetooth Low Energy) devices incorporated with the pallet, according to various embodiments of the present invention;
[0053] Fig.8 shows a schematic diagram depicting the inventive method
of the present invention, according to various embodiments of the present invention;
[0054] Fig. 9 shows a schematic view of a system to facilitate direction
of the BLE beacon by receiving signal strength, according to various embodiments of the present invention;
[0055] Fig.10' herein depicts an exemplary notion of monitoring and
tracking of pallets in a closed operational network, according to various embodiments of the present invention;
[0056] Fig.ll depicts a system architecture of the present invention to
facilitate monitoring and tracking of pallets in a closed operational multiple network, according to various embodiments of the present invention; and

[0057] Fig.12 depicts another embodiment of the present invention in
which there is shown a mobile device Bluetooth transceiver which acts as a fail-safe for reducing the dependency on the antenna; and
[0058] Fig. 13 illustrates the process of updating of location of BLE
beacons, according to an embodiment of the present invention.
[0059] Like reference numerals refer to like parts throughout the
description of several views of the drawings.
DESCRIPTION OF THE INVENTION
[0060] The exemplary embodiments described herein detail for
illustrative purposes are subject to many variations in structure and design. It should be emphasized, however, that the present invention is not limited to a particular method and system to facilitate monitoring and tracking of personnel in a closed operational network.
[0061] It is understood that various omissions and substitutions of
equivalents are contemplated as circumstances may suggest or render expedient, but these are intended to cover the application or implementation without departing from the spirit or scope of the present invention.
[0062] The terms "a" and "an" herein do not denote a limitation of
quantity, but rather denote the presence of at least one of the referenced item.
[0063] Th e terms "having", "comprising", "including", and variations
thereof signify the presence of a component.
[0064] The present invention proposes and implements a real Indoor
Positioning System and method of identification of an item, such as a pallet, in a closed warehouse (500) environment based on Bluetooth Low Energy technology. More specifically, the present invention provides method for finding a pallet (102) in an enclosed warehouse (500) environment. The invention is explained with reference to Figs. 1-13
[0065] The method of the present invention is now explained in Fig. 1.
As shown in Fig. 1, the method (50) for finding the pallet (102) in the enclosed warehouse (500) environment (500) starts with step (51). The warehouse (500) environment (500) herein refers to a storage facility where many assets (or called

items interchangeably) may be stored. Usually, such items may be stored in numerous pallets or boxes kept in the facility.
[0066] It will be apparent to a person skilled in the art that, such a
facility is usually operated by a manufacturing company or a logistics company, involved in storage and transportation of items.
[0067] It should be understood that such a facility has only been taken as
an example. Accordingly, the present invention may be applicable to identifying goods or items in any facility, of any size and square footage.
[0068] At step (51), a Bluetooth low energy (BLE) beacon (100) is
attached to each of the plurality of pallets in the storage warehouse (500).
[0069] In an exemplary embodiment of the present invention, each BLE
beacon (100) has a unique Bluetooth address and universally unique identifier (UUID) code. This is better shown in Fig. 5. In the said Fig. 5, the BLE beacon (100) is shown to be identified by its UUID. It will be appreciated to the person skilled in the art that using the UUID, a user is able to uniquely identify the said beacon.
[0070] At step (52), the unique Bluetooth address and UUID code of
each BLE beacon (100) attached to the plurality of pallets (102), is stored in a data processing unit (300). More specifically, once a pallet is brought into the warehouse (500) environment, an operator may enter the Bluetooth address and UUID code of each BLE beacon (100), in the data processing unit (300).
[0071] As shown in Fig. 5, the details of the BLE beacons, such as
UUID, is stored in the data processing unit (300) before processing an operation of finding the pallet (102) of interest.
[0072] Further, at step (53), the method (50) involves a scanning of the
warehouse (500) is carried out to create a 3D map of the said warehouse (500). This is better shown with reference to Fig. 6.
[0073] As shown in Fig. 6, there is an environment, which is a
warehouse (500). Before implementing the present invention, it may be ensured that the said warehouse (500) is scanned using a 3D scanner. In one embodiment, the scanning is done by a Light detection and ranging (LiDAR) approach to map the area.
[0074] It will be apparent to a person skilled in the art that the said
technology usually utilizes multiple lasers to form a laser array, and with some mechanical motion scans the totality of the area. The implementation of the technology is very precise and has an error rate of 0.3% in such implementation.

[0075] Now coming to step (54), the 3D map of the warehouse (500) is
displayed in a mobile device (200) of a user. The 3D map of the warehouse (500) enables the user to easily visualize the details of the warehouse (500).
[0076] An exemplary 3D map of the said warehouse (500) is as shown
in Fig. 6. The 3D map enables to display the warehouse (500) of the system in a grid format or in a Cartesian plane format. It may be appreciated that the Cartesian plane format coordinates will be assigned to the warehouse (500) and this may help to increase the accuracy of the operation of finding the pallet (102).
[0077] When a pallet needs to be searched, the method (50) moves to
next step (55), which involves searching of a BLE beacon (100) of interest, and identifying the said BLE beacon (100) of interest.
[0078] More specifically, when the location of a desired beacon (100)
attached to a pallet (102) is to be determined, it is requested by the user through an application of the mobile device (200), and a request is sent to the data processing unit (300).
[0079] Thereafter, a set of antennae (400) which are already connected
to the data processing unit (300) produce a response for the request. This is shown with reference to Fig. 7.
[0080] As shown in Fig. 7, a plurality of BLE beacons (100), with each
beacon (100) attached to each plurality of pallets (102), is incorporated alongside a gird-format view of the warehouse (500).
[0081] The said BLE beacons (100) interact with the set of antennae
(400), and signal strength of the said BLE beacons (100) is determined. More specifically, the array of antenna (400) connected to the BLE beacons (100) detects and receives the signal of interest at a plurality of locations (502). With the help of these signal strength, the location of the BLE beacon (100) of interest is identified.
[0082] In an exemplary embodiment of the present invention, the
statistical techniques are implemented that is followed by a method that computes the highest density of circle intersections which represent potential beacon locations.
[0083] In an exemplary calculation of the embodiment consider two
antennae (400) located at (xi, yi) and (x2, yi). If the BLE beacon (100) of interest is located at (x, y), the distances from the BLE beacon (100) of interest to the antennae (400) is calculated by given formulae:

dl=((x-Xl)2 + (y-yi)2)1/2 (1)
d2 = ((x-x2)2 + (y-y2)2)1/2 (2)
[0084] Further, the signal power in dBm is measured at each antenna is
calculated by below formulae:
Pl=PO-10odogio(di/d0) (3)
P2 = PO-10alogio(d2/d0) (4)
[0085] In an embodiment, assuming the path loss exponent is the same
for both antennae (400). The reference power level, Po, is equal for both antennae (400) because they are both receiving a signal from the same BLE beacon (100). The power difference of these two antennae (400) is given by:
Pi2 = Pi-P2=10alogio(d2/di) (5)
Using equations (1), (2) along with equation (3),
P12 = 5odogio _x0005_ [((x-x2)2 + (y-y2)2 )/((x-xi)2 + (y-yi)2 )] (6)
In general, if there are N antennae, and 1 < k < 1 < N, then
Pki = Pk "Pi = 5odogio _x0005_ [((x-Xl)2 + (y-yi)2 )/((x-xk)2 + (y-yk)2 ) ( 7).
[0086] In an embodiment, If the actual measured power difference
between the receivers at Rk = (xk, yk) and Ri = (xi,yi) is P ki, the optimal Non-Linear Least Squares method finds the (x, y) that minimize the sum of the squares of the differences between the actual measured received signal strengths and the theoretical received signal strengths given by equation (7).
Q(x, y) = 2 [Pki. 5alog10[((x-xt)2 + (y-yt)2)/((x-xk)2 + (y-yk)2)]]
[0087] Further the above equation is valid for all combinations of
receiver pairs. The objective function Q is non-linear and the only method to find its

minimum is to define a grid over which a search is conducted with Q evaluated at each point on the grid. Ultimately, the grid point that minimizes Q is selected as the position fix for the BLE beacon (100). Since a search grid must be defined, there is a direct correlation between computation time and the BLE beacon (100) geolocation accuracy. Techniques like Maximum Likelihood, Discrete Probability Density method and intensity density method which utilizes pairs of receivers to generate circles, upon which the beacon lies.
[0088] In an embodiment, a search will be initiated based on the unique
Bluetooth address and UUID code. The antenna (400) nearest to the BLE beacon of interest would passively connect through BLE protocols to the BLE beacon of interest. This finds the BLE beacon of interest (100) and with it the pallet (102).
[0089] The method (50) is continued with step (56), wherein location of
the identified BLE beacon (100) is computed by the data processing unit (300). The identification process is done as shown in Fig.8. The antenna (400) and mobile application interface communicates with the data processing unit (300), wherein the data is processed. The directional flow of information is also shown in Fig.8.
[0090] More specifically, the said data processing unit (300) includes a
program for executing therein to determine the power level of the signal of interest at each measurement location (502), and determines location of the BLE beacon (100) of interest from the change in power level of the signal of interest between measurement locations (502).
[0091] The said data processing unit (300) may enable preset algorithms
to calculate distance and angle of the said BLE beacon (100) of interest with respect to the position of the user using the signal strength of beacons (100).
[0092] Various mathematical approaches (such as Maximum Likelihood
and similar techniques) may be used whenever the user uses the application for identifying the location (distance and angle) of the said beacon of interest.
[0093] An exemplary calculation of the distance 'd' is shown below. In
one approach, the distance (d) between the antenna (400) and BLE (100) beacon of interest may be determined using this formula:
d AB =V (x A- x B)z + (y A-y B)Z

where, d AB is distance between two measurements points A (x, y) and B (x, y),
and
x, y are coordinates of the said points.
[0094] In various embodiments of the present invention, it may be
assumed that there is a substantially constant path loss exponent for the signal of interest, as the said signal propagates through a medium from the BLE beacon (100) to the antenna (400). In such case, the only factor accounting for a change in signal strength of the signal of interest is the distance between the antenna (400) and the BLE beacon (100).
[0095] From such an assumption, in various embodiments of the present
invention, the method (50) of the present invention determines the location of the beacon of interest by equating a ratio of the distances between the measurement points and the said beacon of interest with a ratio of a change in power level of the signal of interest between measurement points.
[0096] The ratio of the change in power level (K), where K is measured
in decibels, of the signal of interest between the two measurement points A, B, where a equals the path loss exponent (a), which equals 2 in constant free-space, and PA-PB is the difference in power level between the two measurement points A, B is as shown below:
10^-^ = K
[0097] Further, it will be apparent that such solution may be defined as a
circle that passes between measurements points A (xA,yA), B (xB,yB) and encircles the stronger of the two measurement points, with a radius inversely proportional to the difference in signal strength. In one embodiment, machine learning may be used to determine the coordinates of unknown beacon of interest.
[0098] The center of the circle is translated and normalized into the x,y
coordinate system by recognizing that the center of the circle lies on the straight line between measurement points A (xA,yA), B (xB,yB) that is offset from the X-axis by an angle 9. The diameter of the circle and 9 are defined as follows:

Diameter=l(^-7mJ
\xA -xB)
[0099] Further, it will be appreciated that the center of the circle is offset
from the stronger of the two measurement points by some value that is a function of the difference in power between the two measurement points, and the distance between the two measurement points. Using the above equations, a solution set for the locus for the unknown beacon of interest is defined as follows:
= yA + Diameter* sin0; if(yA > yB) 1
ycenter = }!A - Diameter*sinO; if( V'B > }'A)
xcenter = x\ + Diameter* sin©; i${xA > xg)
^center = *A - Diameter* sinQ; if {XB > xA)
[00100] One type of estimation algorithm is the so-called subspace estimator, and one popular algorithm of that category is called MUSIC (Multiple Signal Classification). The idea of this algorithm is to perform eigen decomposition on the covariance matrix as below:
R^VAV1
[00101] As in an array of antenna, the present invention loops through the desired values. In an ideal case, MUSIC has excellent resolution in a good Signal to Noise Ration or SNR environment and is very accurate. On the other hand, its performance is not very strong when the input signals are highly correlated, especially in an indoor environment. Multipath effects distort the pseudo-spectrum causing it to have maximums at the wrong locations. This may be obliviating using techniques such as Kalman filtering.
[00102] In another embodiment, the present invention provides a spatial smoothing. The said spatial smoothing is adapted to solve problems caused by multipathing (when coherent signals are present). More specifically, it will be appreciated by those skilled in the art that the signal covariance matrix may be "decorrelated" by calculating an averaged covariance matrix using subarrays of the

original covariance matrix. For a two-dimensional array, this can be written as the following:
j Af. .V.
S = AfJV, S ^ /^n
[00103] Where M2 and N2 are the number of sub arrays in x- and y-directions respectively and R mn stands for the (m,n): the sub array covariance matrix. The resulting covariance matrix may now be used as a "decorrelated" version of the covariance matrix and fed to the MUSIC algorithm to produce correct results. The downside of spatial smoothing is it reduces the size of the covariance matrix, which further reduces the accuracy of the estimate.
[00104] In another embodiment of the present, the distance and location of a beacon may be calculated based on the Received Signal Strength Indicator (RRSI). More specifically, the RSSI is signal strength of the BLE beacon (100) of interest as seen on mobile device (200). The said signal strength depends on distance and Broadcasting Power Value. The distance between the mobile device and the beacon is calculated from the formula given below:
.MeasuredPower —RSSL
Distance = 10c To^v )
[00105] In the exemplary of the embodiment, the maximum broadcasting power for an iBeacon is set when configuring the BLE beacon. Also, most beacons configuration app has a setting for 'measured power'. It would be understood that such power doesn't change the power output by the beacon. Instead, it's a value that's put into the advertising data that declares to receiving devices what the power should be at a distance of 1 meter from the beacon. Now the above formula can be broken down in the form of known and unknowns:
• Measured Power = -69 (for Bluecharm BLE beacons)
• RSSI =-60 for a given instance
• N = 2
• Distance for RSSI -60 = 10 A ((-69 - (-60))/ (10 * 2)) = 0.3548 meter

[00106] In one embodiment of the present invention, the direction of the BLE beacon (100) of interest is detected using PDOA and utilizing the Grid allocation format for precise detection. In one embodiment, such implementation may be carried out using machine learning approach.
[00107] Further at step (57), navigation waypoint of the said BLE beacon
(100) of interest is displayed on the mobile device (200) of the user. Now referring to Fig. 10, a previously scanned 3D map of the warehouse (500) is shown in the mobile device (200) of the user. The said BLE beacon (100) of interest is shown in the interface of the application.
[00108] Further, the said application in the mobile device (200) of the user displays the said navigation waypoint of the BLE beacon (100) of interest in terms of angle and distance with respect to a position of the user, as shown in Fig. 10.
[00109] The user may navigate towards the said pallet (102) of interest with the help of BLE beacon (100) attached to the said pallet (102) of interest.
[00110] In another embodiment of the present invention, multiple users and a huge mesh network involved in the warehouse (500) is shown in Fig.ll. The methodology employed therein divides the entire floor map into small pockets. In one embodiment, each pocket will have a primary node, and these will be all connected to the main network controller. In this manner proper execution is achieved. More particularly, a compartmentalization will take place and the resolution of the navigation will be more resolved, thereby increasing the accuracy of the entire navigation process and the flow process of the operation will be Optimum.
[00111] In another embodiment of the present invention, an alternative
method (60) for identifying a pallet (102) in a warehouse (500) is disclosed. This method is shown in Fig.2.
[00112] As shown in Fig.2, said method (60) acts as a fail-safe method when the method (50) fails. This may be critical in a case where the antennas (400) are inoperative due to signal redundancy in the warehouse (500), as these warehouses (500) are usually located in remote places, where internet connectivity is intermittent or non-existent (refer Fig.12).
[00113] In another embodiment, said method (60) may be used independently to determine the location of the said pallet (102) of interest.

[00114] The method (60) initiates at step (61), which involves enabling
inbuilt Bluetooth transceivers of the mobile devices (200) of the users for finding the said BLE beacon of interest.
[00115] Further, at step (62), handshaking of the BLE beacons (100) with plurality of mobile devices of users in the said warehouse (500) to collect the details of the BLE beacons (100).
[00116] More specifically, it may be appreciated that people inside the said warehouse (500) are always in motion, and with the mobile BLE of these users switched on (BLE is very energy efficient), any number of BLE beacons (100) present near the vicinity of the beacon will interact with the mobile device (200).
[00117] It will be appreciated that in such a case, not only one mobile device will be searching for the particular beacon, but, all the mobile devices belonging to all users in the warehouse (500), will be simultaneously searching for the same beacon. This will result in one or multiple mobile devices getting a hit (positive identification), and such hit may correspond to accurately identifying the position of the BLE beacon that's required to searched in the first place.
[00118] The next step (63) involves identifying locations of the BLE
beacons (100) by interacting to the mobile devices of the users as shown in Fig.9. The locations may be identified based on Kalman filtering, machine learning and spatial smoothing as underline above.
[00119] In an exemplary embodiment (refer Fig. 9), the signal strength of the BLE beacon of interest (100) received by the user is 64 dBm. The said signal strength received by the user on the mobile device (200).
[00120] As shown in Fig. 9, the coordinates of the user are known i.e. x= lm and y=3m. Further, the distance of the BLE beacon of interest (100) is measured by the above-mentioned algorithm and calculation is 3m. The values are used for the reference.
[00121] At step (64), a constant update of the locations of the said BLE beacons (100) are provided to the data processing unit (300). The said locations are saved on the data processing unit (300) on based of the Bluetooth address and UUTD code of the said BLE beacons (100), as shown in data structure represented in Fig.13.
[00122] In one embodiment, the data processing unit (300) stores details of the BLE beacons (100). At step (65), the data processing unit (300) provides the last updated location of the BLE beacon of interest to the user on the mobile device

(200). The location is provided whenever any one of the BLE beacon (100) present in the warehouse (500) is requested to be tracked using the updated location of the pallet (102).
[00123] Further, the method (60) will follow by the step (66), wherein,
navigation waypoint of the said BLE beacon (100) of interest is displayed on the mobile device (200) of the user. Now referring to Fig. 10, a previously scanned 3D map of the warehouse (500) is shown in the mobile device (200) of the user. The said BLE beacon (100) of interest is shown in the interface of the application.
[00124] Further, the said application in the mobile device (200) of the user, display the said navigation waypoint of the BLE beacon (100) of interest in terms of angle and distance with respect to a position of the user. Wherein, the said navigation waypoint is provided by enabling a machine learning and Power difference of arrival (PDOA). The user then navigates towards the pallet (102) of interest. Accordingly, the method (60) allows identification of a pallet (102) even when the internet connectivity in the warehouse (500) is non-existent.
[00125] In an aspect of the present invention, Fig.3 illustrates a block
diagram of a system for finding a pallet (102) inside a warehouse (500). The system (1000) comprises a plurality of BLE beacons (100). Wherein, each BLE beacon (100) is attached to each of plurality of pallets (102).
[00126] Further, each BLE beacon (100) of a pallet (102) has its unique Bluetooth address and Universally unique identifier (UUTD) code (refer Fig.3).
[00127] Further as shown in Fig.3, the system (1000) includes a set of antennae (400). The said set of antennae (400) communicates with the said BLE beacons (100) via a wireless network. The set of antennae (400) is adapted to receive signals from the said BLE beacon (100). More specifically, an array of antennae (400) is connected to the BLE beacons (100) detect and receives the signal of interest at a plurality of locations.
[00128] The system (1000) further includes a data processing unit (300)
coupled via wireless network to the set of antennae (400). When the location of a desired beacon is to be requested by the user through the Application, a request is sent to the data processing unit (300).
[00129] The said data processing unit (300) is adapted to store Bluetooth address and UUTD code of each BLE beacon (100) attached to the pallet (102). Further, the said data processing unit (300) determines the power level of the signal of

interest at each measurement location and calculates direction of the BLE beacon (100) of interest by enabling preset algorithms as explained above.
[00130] In one embodiment of the present invention, the said data processing unit (300) is adapted to receive information from a mobile device (200) of a user about a pallet (102) of interest. More specifically, whenever the request to find the pallet (102) of interest would be placed by a user to data processing unit (300) through a mobile device (200). Further, the said data processing unit (300) receives the request and provides to the set of antennae (400).
[00131] Further, the said data processing unit (400) computes the navigation way point of the pallet (102) of interest with reference to the position of the user and provides the said navigation waypoint to the mobile device (200) of the user.
[00132] The system (1000) of the present invention also includes a
plurality of mobile devices (200) coupled via a wireless network to the data processing unit (300). Each of the plurality of mobile devices (200) is adapted to receive information about the location of the said BLE beacon (100) of interest attached to pallet (102) and display the navigation waypoint of the said BLE beacon (100) of interest to the user.
[00133] In one embodiment of the present invention, the said plurality of mobile devices (200) includes an application. The said application is required to perform an operation of finding the said pallet (102) of interest.
[00134] In another embodiment of the present invention the said system (1000) includes a 3D scanner to create the 3D map of the said warehouse (500).
[00135] In one embodiment of the present invention as shown in Fig. 4, the said plurality of mobile devices (200) further comprises inbuilt Bluetooth transceiver. The said Bluetooth transceiver in the mobile device (200) of the user is adapted to handshake the BLE beacons (100) with the plurality of mobile devices (200) of users in the said warehouse (500) and identify locations of the said BLE beacons (100) interacting with the said mobile devices (200) of the users.
[00136] In another embodiment, the said Bluetooth transceiver is adapted to update the said locations of the said BLE beacons (100) in the said data processing unit (300). Further, the said Bluetooth transceiver provides last updated location of the said BLE beacon (100) of interest to the user on the mobile device and display

navigation waypoint of the said BLE beacon (100) of interest on the mobile device of the user.
[00137] The user may navigate towards the pallet (102) of interest. The implementation of the said Bluetooth transceiver reduces the dependency on the antenna (400).
[00138] In an exemplary embodiment, the present invention provides a method and system for finding the pallet in the enclosed storage warehouse environment. As compared to existing systems and methods, the present invention provides the 3D map of the warehouse to visualize the details of the warehouse and provides navigation waypoint of the pallet in terms of distance and angle. Hence, the method and system provide the location of the pallet more accurately.
[00139] Further, the present invention provides the alternate fail-safe method which overcomes the problem of performing the operation of finding the pallet in case when antennas fail. Also, the system is provided to ensure the continuity of performing the operation in remote places, where internet connectivity is intermittent or non-existent.
[00140] In addition, the present invention provides compartmentalization
of networks, thereby enhance a resolution of the navigation which increases the accuracy of the entire navigation method and the operation of finding the pallet in the enclosed storage may be more optimum.
[00141] Further, the present invention may overcome the disadvantages such as poor precision such as Received Signal Strength Indicator (RSSI) fluctuations due to the behavior of the channels and the multipath effect by using techniques like Kalman Filtering and Machine Learning
[00142] Further, the present invention may overcome the disadvantages which were discussed above.
[00143] The foregoing descriptions of specific embodiments of the
present invention have been presented for purposes of illustration and description. They are not intended to be exhaustive or to limit the present invention to the precise forms disclosed, and obviously many modifications and variations are possible in light of the above teaching.

[00144] Further, the embodiments were chosen and described in order to best explain the principles of the present invention and its practical application, and to thereby enable others skilled in the art to best utilize the present invention and various embodiments with various modifications as are suited to the particular use contemplated. It is understood that various omissions and substitutions of equivalents are contemplated as circumstances may suggest or render expedient, but such omissions and substitutions are intended to cover the application or implementation without departing from the spirit or scope of the present invention.

WE CLAIM:
1. A method for finding a pallet (102) in an enclosed storage warehouse (500) environment having plurality of pallets (102), each pallet (102) having one or more goods stored on it, the method comprising:
attaching a Bluetooth low energy (BLE) beacon (100) to each of the plurality of pallets (102) inside the warehouse (500), each BLE beacon (100) having a unique Bluetooth address and Universally unique identifier (UUTD) code associated therewith;
storing details of the plurality of BLE beacons (100) in a data processing unit (300);
scanning the said warehouse (500);
displaying the said 3D map of the said warehouse (500) on a mobile device (200) of a user;
searching for a BLE beacon (100) of interest to identify the said beacon (100);
determining a location of the said BLE beacon (100) of interest, the said location is determined by the data processing unit (300); and
displaying navigation waypoint of the said BLE beacon (100) of interest on the said mobile device (200) of the user,
wherein, the said location is determined by calculating distance and angle of the said beacon (100) of interest with respect to position of the user.
2. The method as claimed in claim 1, wherein, the said BLE beacon (100) of interest is identified by a set of antennae (400) by operationally coupling with the said BLE beacon (100) of interest.
3. The method as claimed in claim 1, comprising:
enabling inbuilt Bluetooth transceivers of a plurality of mobile devices (200) for finding the said BLE beacon (100) of interest.

4. The method as claimed in claim 3, wherein, finding the said BLE beacon (100)
of interest comprises following steps:
handshaking of the plurality of BLE beacons (100) with the plurality of mobile devices (200) of users in the said warehouse (500),
identifying locations of the said plurality of BLE beacons (100) by interacting with the said plurality of mobile devices (200) of users,
updating the said locations of the said plurality of BLE beacons (100) in the said data processing unit (300),
providing the last updated location of the said BLE beacon (100) of interest to the user on the mobile device (200), and
displaying the navigation waypoint of the said BLE beacon (100) of interest on the said mobile device (200) of the user.
5. The method as claimed in claim 3, wherein, the said Bluetooth transceiver is activated when a set of antennae (400) fail.
6. The method as claimed in claim 1, wherein the data processing unit (300) calculates the distance and angle of the said beacon (100) of interest by enabling preset algorithms.
7. The method as claimed in claim 1, wherein the said scanning is conducted by a 3D scanner to create a 3D map of the said warehouse (500).
8. A system (1000) for finding a pallet (102) in a warehouse (500) environment having plurality of pallets (102), each pallet (102) having one or more goods, the system (1000) comprising:
a plurality of BLE beacons (100), wherein each BLE beacon (100) is attached to each of the plurality of pallets (102);
a set of antennae (400) coupled via wireless network to the said plurality of BLE beacons (100), the set of antennae (400) is adapted to,
receive signals from the said plurality of BLE beacons (100), and
identify a BLE beacon (100) of interest from the said plurality of BLE beacons;

a data processing unit (300) coupled via wireless network to the set of antennae (400), the data processing unit (300) adapted to,
store details of the plurality of BLE beacons (100), wherein each BLE beacon (100) attached to each plurality of the pallets (102),
calculate distance and angle of the said BLE beacon (100) of interest,
wherein, the said data processing unit (300) is adapted to receive information from a mobile device (200) of a user about a pallet (102) of interest,
compute navigation waypoint of the pallet (102) of interest, and
provide the said navigation waypoint to the mobile device (200) of the user; and
a plurality of mobile devices (200) coupled via wireless network to the data processing unit (300), each of the plurality of mobile devices (200) adapted to,
receive information about the location of the said BLE beacon (100) of interest attached to pallet (102), and
display the navigation waypoint of the said BLE beacon (100) of interest to the user.
9. The system (1000) as claimed in claim 78 wherein, the each BLE beacon (100) has unique Bluetooth address and UUTD code.
10. The system (1000) as claimed in claim 8, wherein, the said plurality of mobile devices (200) comprises an application to perform an operation of finding the said pallet (102) of interest.
11. The system (1000) as claimed in claim 8, wherein, the said plurality of mobile devices (200) comprises inbuilt Bluetooth transceiver.
12. The system (1000) as claimed in claim 11, wherein inbuilt Bluetooth transceiver of a mobile device (200) is adapted to,
handshake the plurality of BLE beacons (100) with plurality of mobile devices of users in the said warehouse (500),

identify locations of the said plurality of BLE beacons (100) by interacting with the said plurality of mobile devices of the users,
update the said locations of the said BLE beacons (100) in the said data processing unit (300),
provide the last updated location of the said BLE beacon (100) of interest to the user on the mobile device (200), and
display the navigation waypoint of the said BLE beacon (100) of interest on the mobile device (200) of the user.
13. The system (1000) as claimed in claim 11, wherein, the said Bluetooth transceiver is activated when the said set of antennae (400) fail.
14. The system (1000) as claimed in claim 8, comprising a 3D scanner adapted to create a 3D map of the warehouse (500).
15. The system (1000) as claimed in claim 8, wherein the data processing unit (300) calculates the distance and angle of the said beacon (100) of interest by enabling preset algorithms.