Experiment and Results
The experimental setup included an Android device running a custom application with the positioning algorithm, and four beacons placed approximately four meters apart, roughly forming a square. The mobile device was then placed in 4 different locations to execute the positioning algorithm. At each location, 600 location calculations were performed to determine an overall positioning error of 0.2 to 0.4 meters. Figure 3 shows the pre-processed RSSI value compared to the raw RSSI value. Figure 4 illustrates positioning results, average calculated locations, and average positioning error for one of these locations.