Position Calculation
A Bayesian estimator was used to calculate the position of a mobile device at any given time. The test area was divided into a grid of 1 meter squares and the probability of a fingerprint corresponding to a particular cell was determined. To do this the following Euclidian distance algorithm was used to give a score to each cell for current fingerprint m, beacons \(B=\left\{b_1,...,b_N\right\}\), and the set of survey maps M.