An iBeacon indoor positioning algorithm. The algorithm analyses the iBeacon rssi values and estimates the current planar position.
- Outlier Exclusion: detect outlier rssi values and exclude these values;
- WMA: using a weighted moving average method to smooth the rssi values;
- Trilateration: method to estimate the proximity position;
- Kalman filter: using a kalman filter to smooth the result trajectory.
This is a MS visual studio solution project. Compile and build it using the Visual Studio IDE.
See the Example.cpp
.
Result plot in Matlab:
The red dots are iBeacons, the blue dots are position estimates.