Epitaph has a wide array of utilities to position your user in a building. The project is intended to be used to only calculate the position on the user's device. It has been written in Dart using the Flutter framework. Bluetooth Low Energy (BLE) beacons are used to make the calculations possible. Received Signal Strength Indication (RSSI) values are used to calculate the user’s location in the real world.
This library has been build with:
In Progress
The tracking system consists of multiple modules that can theoretically be used individually as well.
Point calculate(List<Beacon>)
Point filter(Point)
, void configFilter(Point)
, void reset()
void initiateTrackingCycle(List<Beacon>)
encompasses all relevant methodsvoid initiateTrackingCycle(List<Beacon>)
//Initialize calculator
Calculator calculator = LMA();
//Very basic models for unscented Kalman filter
Matrix fxUserLocation(Matrix x, double dt, List? args) {
List<double> list = [
x[1][0] * dt + x[0][0],
x[1][0],
x[3][0] * dt + x[2][0],
x[3][0]
];
return Matrix.fromFlattenedList(list, 4, 1);
}
Matrix hxUserLocation(Matrix x, List? args) {
return Matrix.row([x[0][0], x[0][2]]);
}
//Sigma point function for unscented Kalman filter
SigmaPointFunction sigmaPoints = MerweFunction(4, 0.1, 2.0, 1.0);
//Initialize filter
Filter filter = SimpleUKF(4, 2, 0.3, hxUserLocation, fxUserLocation, sigmaPoints, sigmaPoints.numberOfSigmaPoints());
//Initialize tracker
Tracker tracker = Tracker(calculator, filter);
//Engage tracker by calling this method with a list with at least 3 Beacon instances
tracker.initiateTrackingCycle(...);
//The result of the tracker can be called as follows
tracker.finalPosition;
//Raw calculated position and filtered position can be called as well
tracker.calculatedPosition;
tracker.filteredPosition;
//Filter can be used independently from tracker; provide Point instance for filter method
filter.filter(...);
//Calculator can be used independently from tracker; provide a list with at least 3 Beacon instances
calculator.calculate(...);
Learn with the latest updates directly from our Documentation.
Contributions are what make the open source community such an amazing place to learn, inspire, and create. Any contributions you make are greatly appreciated.
If you have a suggestion that would make this better, please open an issue with the tag "enhancement", fork the repo and create a pull request. You can also simply open an issue with the tag "enhancement". Don't forget to give the project a star! Thanks again!
git checkout -b feature/AmazingFeature
)git commit -m 'Add some AmazingFeature'
)git push origin feature/AmazingFeature
)The Flutter Team has a great guide here how to set up everything needed.
We also would suggest looking into the Flutter Team's style guide here
More about this in the CODE_OF_CONDUCT file.
See the open issues for a full list of proposed features, known issues and out latest Roadmap.
Distributed under the MIT License. See LICENSE file for more information.
it@M - [email protected]