SubPos Positioning System

There's now a static cache of the now defunct subpos.org and wiki. Please note that some links between the main site and the wiki site are broken, but if you go to them directly using the links below they work fine.

Also note. The search bars still link to the subpos.org domain, which is no longer controlled by SubPos. Any results you receive by using the search functions on either the wiki site or the main site are not endorsed by SubPos.

Browse the main site with the following link - https://subpos.github.io/

Browse the wiki site with the following link - https://subpos.github.io/wiki/index.php/SubPos.html

It's in the repo if you want to clone and browse locally - https://github.com/subpos/subpos.github.io

So after many hours of sleepless coffee fueled crazy times, a surprise Kickstarter campaign for the Ranger is now live!

https://www.kickstarter.com/projects/subpos/subpos-ranger-indoor-positioning-system

Over on the SubPos Ranger project page I have a demo up and running:

The client is connected to the laptop with a USB connection. However, the client does all the positioning calculations, the laptop is just displaying the node positions and the current client position.

Averaging is turned right up which is why it takes a little while to update the position. This is because I live in an apartment block with lots of 2.4GHz RF flying about, so this helps to cope with that. I am integrating an accelerometer on the client to provide better intemediate updates when averaging is turned up too. But as you can see, it's pretty spot on in terms of accuracy.

A few things have been happening over on the SubPos Ranger project page. I now have Rev.02 modules and clients built:

Note that there are some updates happening on the SubPos Ranger project page. I currently have a Ranger Node built, ready for testing:

I have released the sources for a receiver module which works with the ESP module - https://github.com/subpos/subpos_receiver

It's been tested on Arduino and the Teensy 3.2 as well as Energia and the Launchpad Tiva C (tm4c123).

For use with the ESP Wi-Fi Scanner Firmware - https://github.com/subpos/esp_wifi_scanner

Future updates for the ranging system (SubPos Ranger) will be placed in the new project page - https://hackaday.io/project/9242-subpos-ranger

Please skull and follow this project for ranging updates.

Here is a newer version of the ESP firmware that now utilises the wifi_send_pkt_freedom() function to send beacon frames.

https://github.com/subpos/esp_firmware_v2.git

This method of generation allows for tighter control of beacon frame rates and increases security as it runs in a passive client mode and only generates beacon frames.

Note that the Node firmware has also been updated to support this new version. You will need to use the latest Node firmware (0.1.6) with this firmware. Additionally, the old ESP firmware will not work with the latest Node firmware.

Here is a little teaser of the AT86RF233 dev modules that I will be working with to perform a simple method for ranging (distance) calculations:

I now have standard deviation error circles working to display the calculated positional error. It shows the possible circle error from all the positioning measurements (i.e., the client could be located anywhere in this circle):

This value calculated is the radius of the circle surrounding the position as the center point (the developer just has to draw the circle from this radius). This is updated in the Android API repository on GitHub.

I also have a fancy new website (the wiki is still there as a link) at http://www.subpos.org :