A Kalman Filter from Theory to C Code: Implementing a 1D Position Tracker for BLE RSSI with Adaptive Q and R Matrices

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文章摘要：
Introduction: Why Kalman Filters Matter for BLE RSSI Tracking Bluetooth Low Energy (BLE) received signal strength indicator (RSSI) is notoriously noisy—subject to multipath fading, environmental interference, and hardware variations. A raw RSSI reading can fluctuate by ±10 dBm within seconds, makin

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