Disclosed is a system and method for calibrating BLE signal strengths to high-accuracy/precise distances. The present disclosure involves auto-calibrating BLE-based tracking systems, such as, for example, those used indoors using acoustic signals. The present disclosure enables BLE-based distance estimation to be accurate to decimeters and centimeters. The disclosed systems and methods utilize signals communicated to and from roaming devices in order to determine the distance(s) between the roaming device and installed BLE units. A signal-strength to distance map can then be constructed for reuse on any device with a Bluetooth component.