Group 2- assignmen2-Indoor data collection, positioning and navigating

[Kaynamisang]

Key features implemented:

• 500-particle SIR particle filter fusing PDR, WiFi API, GNSS, and local calibration database (395 reference points, WKNN K=10)
• Map matching with wall constraints from Floorplan API GeoJSON data
• Floor detection with barometric sensing, stairs/lift spatial gating (5m), and elevator/stairs classification
• 10-second initial calibration mode with multi-source weighted averaging
• Heading bias correction (dual-mode: early 15-step + normal EMA)
• Smooth path display (moving average), last-N observation dots, WiFi signal quality indicator
• Indoor positioning mode with one-tap entry and auto building detection
• Compass, weather overlay, test point markers with timestamp/building/floor metadata
• Google Java Style, compile-time debug elimination, 32 unit tests

Building: Nucleus (GF, F1, F2) + Library (GF)
Median positioning error: 3.02m (382 evaluation points)