swift - iBeacon：用于指纹位置估计的粒子滤波器扩展

Question

我在我的应用程序中实施了完整的指纹解决方案。离线阶段：我可以创建多个观察点，并使用房间内所有信标的平均 rssi 值对其进行校准。实时阶段：这里我将实际值与数据库值进行比较以获得最接近的位置。

现在我读到包含粒子过滤器可以提高指纹解决方案的准确性。有谁知道我如何以及为什么要实现这个？

Answer 1

I assume you can use them together as complementary solutions to each other, since I'm not aware of an approach that combines both of them practically.

Here is a nice paper about using particle filters with BLE, it does discuss other approaches as well including Fingerprinting.

To comment on your question, I know that particle filters will work better when there is line of sight between the observer and beacons. On the other hand, your current solution should work with better accuracy when there is no line of sight and especially when you are already using a database to map beacon distances to your observations.

What I would do as an "extension" is to use both methods side by side, and take advantage of the database when inside known locations depending on line of sight. For example you can use particle filter inside small rooms with less obstacles, otherwise you can put a threshold for your estimation and compare it with your database value and switch to Fingerprinting when inside more obsolete or larger indoor areas.