Final Assignment: Group16 Submission#125
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Junyi12138 wants to merge 7 commits intoopenpositioning:developfrom
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Final Assignment: Group16 Submission#125Junyi12138 wants to merge 7 commits intoopenpositioning:developfrom
Junyi12138 wants to merge 7 commits intoopenpositioning:developfrom
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…ithms. - Implemented `Particle` class with movement and noise simulation. - Implemented the `ParticleFilter` algorithm with the complete lifecycle: 1. Initialization (`initialize`): Distributed particles randomly within given map bounds. 2. Prediction (`predict`): Shifted particles based on PDR movement deltas. 3. Update (`updateWeights`): Calculated particle weights using Gaussian likelihood based on measurement distance and accuracy. 4. Resampling (`resample`): Implemented Low Variance Resampling (Roulette Wheel) to duplicate high-weight particles and eliminate low-weight ones. - Added data structure classes: `MapBounds`, `PDRMovement`, `Measurement`, and `Position`. - Added `getEstimatedPosition` using weighted average for robust position estimation.
… as the central positioning engine. - Connected PDR updates in `SensorEventHandler`: Extracted step deltas (`deltaX`, `deltaY`) from `pdrProcessing.updatePdr` and piped them to `particleFilter.predict()` to simulate pedestrian movement. - Connected WiFi positioning in `WifiPositionManager`: Switched to the callback-based API (`createWifiPositionRequestCallback`) to retrieve absolute global coordinates (WGS84). Implemented Flat Earth Approximation to convert WGS84 Lat/Lng to local Cartesian coordinates (Easting/Northing in meters). Piped the converted local coordinates to `particleFilter.updateWeights()` and `particleFilter.resample()` to correct PDR drift.
…rticleFilter.getEstimatedPosition()` after each PDR step. - Piped the fused coordinates to `pathView.drawTrajectory()` instead of the raw PDR coordinates. - The on-screen trajectory now reflects the real-time, smoothed output of the sensor fusion algorithm. - Added extensive Logcat outputs for debugging and comparing raw PDR vs. fused PF coordinates.
…keys (where 'G' was placed after 'F3'). - Implemented a custom physical sorting in `FloorplanApiClient` to ensure floor sequence: LG -> GF -> F1 -> F2 -> F3. - Refactored `setCurrentFloor` to map physical floor numbers (-1, 0, 1...) to the reordered list indices correctly. - Synchronized manual UI buttons (Up/Down) with the new index structure. - Corrected initial building overlay to default to the Ground Floor (GF).
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Final Submission for Embedded Mobile and Wireless Systems (EWireless) 2026
Group Number: 16
Team Members (Usernames):
-Junyi Lin
Implemented Features: