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Group Number: Group1
Group members：Shiwei Zhou, YongWen, Wenhe Zhao Yichi Zhang
🚀 Summary of Updates
We have successfully implemented the core functionalities for indoor positioning, including positioning fusion, map constraints, and real-time trajectory display.
Sensor Fusion: Adopted a cascaded approach using both EKF and Particle Filter (PF) to balance trajectory stability and anti-drift capabilities.
Map Matching: Applied wall constraints to prevent crossing walls, and optimized floor transitions by combining stairs/lift features with barometer height changes.
UI Updates: Added a toggle for real-time trajectory smoothing and implemented color-coded display for PDR, GNSS, WiFi, and Fused data.
🧪 Testing & Attachments
Testing: Completed live field testing across the Nucleus Building and the Murray Library as required.
Attachments: The Demo video, APK file, User's Guide, and Programmer's Guide have been successfully uploaded to the Learn system.