Particle filter

Demo of the particle filter algorithm on the Railway Terminal. There are many components of this system. If we look closely, we can see dark grey zones all around the map. They represent barriers, locations where we don't expect any movement. The second prominent feature is the swarm of small colored dots — the distribution of particles representing the user's potential positions. Averaged out, they result in a more precise estimation of our placement represented by the blue arrow. Blue blinking circles are beacons that we saw at this time interval. By using signal propagation models, we estimate the distance from all of them to the user. It allows us to decide which particles are better for location prediction and disregard those that are not that well suited. Finally, the red circle is an estimation of the maximum error of the positioning algorithm.