Kalman filter makes me sad because it is such a general and powerful tool for combining information in the presence of uncertainty. At times its ability to extract accurate information seems almost magical— and if it sounds like I’m talking this up too much, then take a look at this previously posted video where I demonstrate a Kalman filter figuring out the orientation of a free-floating body by looking at its velocity. Totally neat!
2019 年初,蓝牙技术联盟宣布蓝牙 5.1 引入了新的“寻向”功能,这个功能 可检测蓝牙信号的方向,将大幅提高蓝牙定位的精确度,提供更好的位置服务, 结束了以往通过 RSSI 信号强度的方式做低精度指纹定位的历史,为蓝牙技术解 决物联网精确定位与导航问题奠定了基础。
依据被定位终端的上下行模式的不同,蓝牙高精度定位可以分为两种技术原 理,分别是:AoA 到达角度法(Angle of Arrival)和 AoD 出发角度法(Angle of Departure)。