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f7b9719d1b
Implement a complete self-improving localization system that uses BLE RSSI triangulation as ground truth to learn per-link, per-zone weights for the Fresnel zone fusion engine. Key components: - Ground truth sample collection with confidence > 0.7 and distance < 0.5m gates - Spatial weight learner using online SGD with L2 regularization - Validation gate that rejects updates without 5% improvement on holdout set - Bilinear interpolation for smooth weight transitions between zones - SQLite persistence for weights with 10,000 sample cap per person - Position accuracy trend visualization in dashboard Accuracy panel Backend (mothership/internal/localization/): - groundtruth.go: BLE trilateration provider with Gauss-Newton optimization - groundtruth_store.go: SQLite storage with weekly accuracy rollups - spatial_weights.go: SpatialWeightLearner with SGD, validation, interpolation - weightlearner.go: WeightLearner with error history tracking - weightstore.go: Weight persistence to SQLite Frontend (dashboard/js/accuracy.js): - fetchPositionAccuracy/fetchPositionHistory functions - drawPositionSparkline for weekly median error trend - Position accuracy section with median error, trend indicator, sample count Tests cover: - Sample collection gates (confidence/distance thresholds) - SGD weight updates after 100 samples - Validation gate rejection of adversarial samples - Bilinear interpolation smoothness - SQLite sample cap enforcement - Weight persistence across restarts Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com> |
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| firmware | ||
| mothership | ||
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| PROGRESS.md | ||
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