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lps_tag_pf_c's Introduction

C-implementation of a particle filter for lps tag

Dependencies

sudo apt-get install gnuplot

Getting started

cd src
make
./particlefilter

Algorithm

  1. Get map with anchors (possible to add and remove under ongoing process)
  2. Init m particles uniformly on the map ·· ···Particles will have:·· ··* position: {x,y,z} ··* state vector: [{addr:, ddist:},{addr:,...}] (calculated from {x,y,z}) ··* Weight: w (normalized)
  3. Calculate the weight ·· ···The weight is calculated by the multidimensional Gauss distribution where the axes are representing one anchor.
  4. The weight is normalized (w_i/sum(w_i)=weight)
  5. Re-sample particles (low variance sampling)
  6. Move particles according to accelerometer/gyro
  7. Calculate new state vector
  8. Go back to step 3

Assumptions

  • Measurements form anchors (ddist) is uncorrelated (Sigma matrix is diagonal)
  • Measurements are normal distributed
  • The tag will have had the same acceleration from the previous measurement until the latest measurement
  • Accelerometer has the same variance for all axis

lps_tag_pf_c's People

Contributors

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