Indoor Positioning Engine

The C++ engine compiled to WebAssembly: a simulated walker, BLE beacons, phone IMU and barometer, fused by a particle filter (red), an EKF (blue) and a weighted-centroid baseline (green). Everything runs in your browser. Pick a two-floor scenario and switch to 3D to watch the floor estimate. Source on GitHub

Scenario Speed Seed particles EKF WCL

filter	error	mean	CEP95	floor (ok)

Statistics exclude the first 5 s, matching the regression suite. Horizontal errors only count fixes on the right floor; "ok" is the share of fixes on the right floor.