swift - iBeacon: Particle filter extension for Fingerprinting position estimation -

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i have implemented full fingerprint solution in application. offline phase: can create multiple observation points , calibrate them mean rssi values of beacons in room. live phase: here compare actual values database values closest position.

now i've read inclusion of particle filter can improve accuracy of fingerprint solution. know how , why can implement this?

i assume can use them complementary solutions each other, since i'm not aware of approach combines both of them practically.

here nice paper using particle filters ble, discuss other approaches including fingerprinting.

to comment on question, know particle filters work better when there line of sight between observer , beacons. on other hand, current solution should work better accuracy when there no line of sight , when using database map beacon distances observations.

what "extension" use both methods side side, , take advantage of database when inside known locations depending on line of sight. example can use particle filter inside small rooms less obstacles, otherwise can put threshold estimation , compare database value , switch fingerprinting when inside more obsolete or larger indoor areas.


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