An iBeacon indoor positioning algorithm. The algorithm analyses the iBeacon rssi values and estimates the current planar position.

• Outlier Exclusion: detect outlier rssi values and exclude these values;
• WMA: using a weighted moving average method to smooth the rssi values;
• Trilateration: method to estimate the proximity position;
• Kalman filter: using a kalman filter to smooth the result trajectory.

This is a MS visual studio solution project. Compile and build it using the Visual Studio IDE.

See the Example.cpp .

Result plot in Matlab:

The red dots are iBeacons, the blue dots are position estimates.