如何使用万向信标设备的室内定位，以提高稳定性和数据的准确性？ [英] How to improve stability and accuracy of data using Gimbal beacon device for indoor positioning?

问题描述

在机器人如何改善多发性信标检测的稳定性？。我现在用的是万向信标室内positioning.Is的BLE适用于室内定位数据访问？

In android how to improve stability of multipe beacon detection?.i am using the Gimbal beacons for indoor positioning.Is the BLE is suitable for Indoor location data access?

推荐答案

在我看来，答案是：是的，BLE适用于室内定位

In my opinion, the answer is: Yes, BLE is suitable for indoor localization.

我会建议使用低通滤波器到的平滑的距离/信号强度读数。我能想到的2种方法来做到这一点：

I would recommend using a low pass filter to smooth out the distance/signal strength readings. I can think of 2 ways to do this:

1. 简单：移动平均值。只是平均的最后三〇年三月十日读数。看看有什么效果最好。

1. Simple: running average. Just average the last 3/10/30 readings. See what works best.

或者

更​​复杂，但更配置： RC滤波器。该算法锄头是这样的：

1. More complex but more configurable: RC filter. The algorithm hoes like this:

// FOR EACH new reading from the BLE do this:

// fc = cutoff frequency [Hz]; i.e.:
// how frequent do you want to detect the BLE coming and parting from the receptor
// this depends on the range and speed of people (see table below)
var real fc := 0.21  // <-- configure this!
// a constant [-], also pi = 3.1415
var real RC := 1 / (2*pi + fc) // <-- OR configure this from the table below!
// dt = time between two consecutive readings [s]
var real dt := 1 // <-- might need updating at each reading !
// a constant
var real α  := dt / (RC + dt)
//the current estimate of the distance that is based on:
// the current reading x[i] and the previous estimate y[i-1]
y[i] := α * x[i] + (1-α) * y[i-1] // <-- result !!!!

我已经计算出的 RC （常量）的表;在我看来，这取决于BLE的范围内，因为如果一个人走在这个范围内进出，对出入如果距离越小，频率越高。请尝试以下5个值，看看是什么/如果你的作品：

I have computed a table for the RC (constant); in my opinion it depends on the range of the BLE because if a man walks in that range in and out, the frequency of going in and out is higher if the distance is smaller. Try these 5 values and see what/if it works for you:

最大距离我们看一下[M]， RC（常量）：RC

Max distance we look at [m], RC (constant):RC

1 0.212212849 ， 3： 0.636638548 ， 10： 2.122128495 ， 30： 6.366385485 ， 60： 12.73277097

1: 0.212212849, 3: 0.636638548, 10: 2.122128495, 30: 6.366385485, 60: 12.73277097

好运气

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