Simulation of position estimation by succesive distance measurement.

The blue dots are Cricket beacons. They are transmitting ultrasound blips in turn at regular intervals,
synchronized by a radio signal. The transmissions are represented by red lines.
The white sphere represents the blimp. It listens to the beacons while moving in the space, and tries to
estimate its current position.
The red dot represents the estimated position. Ideally it should closely follow the white sphere.

See Position.pdf for a description of the used algorithm.
See BeaconRing.pdf for a description of the Cricket system.

Change view: left button mouse drag
Zoom: mouse wheel or right button mouse drag
Pan: middle button mouse drag
Top view: double click
Step: space
Run: enter

Beacons: Gain:

Source code: NavSim

Built with Processing