Position Calculating with Trilateration via Bluetooth Beacons(Estimote).

But i have one Problem, the signal from Estimote Beacons are to low and crab!

Feel free and Program a IndoorGPS System with Wifi or what ever!

You have 3 Beacons (Estimote) they have 2 Values X Coordinate and Y Coordinate (0,0) (320,0) (160,480) The Beacons gives you Distance (2,5m etc.)

With this Values, you can Calculating your Position.

Beacon: AP1( 5,5 )
AP2( 8,5 ) AP3( 6.5,2.5 )

r1 = 2 r2 = 2 r3 = 2

Solution: x0 = (1/delta) * (2A(y1-y3)-2B(y1-y2)) y0 = (1/delta) * (2B(x1-x2)-2A(x1-x3))

delta = 4*((x1-x2)(y1-y3)-(x1-x3)(y1-y2))

A = r2²-r1²-x2²+x1²-y2²+y1²

B = r3²-r1²-x3²+x1²-y3²+y1²

Result: x = 10 y = 5