The accurate determination of the position of individuals and objects in indoor environments represents a significant challenge, given the ineffectiveness of traditional Global Navigation Satellite Systems (GNSS) in such contexts. This thesis addresses this problem by designing, implementing, and experimentally evaluating an indoor positioning system (IPS) based on Bluetooth Low Energy (BLE) technology, ESP32 microcontrollers, and wearable tags. The main objective is to provide a reliable, precise, and energy-efficient solution for real-time tracking, with particular attention to applications in healthcare. The developed system adopts a hierarchical architecture that integrates wearable BLE tags (specifically Global Tag Disk Beacons) as mobile transmitters and a network of ESP32 microcontrollers as intelligent scanning/receiving stations.