Locentra: Open-Source Lab for Simulating Indoor Positioning Algorithms

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Locentra is an open-source, interactive platform for researching how wireless systems estimate the positions of people and objects indoors, where GPS is unreliable. It offers a 2D and 3D virtual lab for rooms and anchors, and simulates real-world issues such as noise, packet dropouts, non-line-of-sight bias, and outliers. Users can compare algorithms including non-linear least squares, Huber robust estimation, and Kalman filtering, using metrics like RMSE, MAE, and P95 error. The project is built with React, Three.js, Python, FastAPI, and NumPy/SciPy, and is hosted on Vercel and Render. Its developers say the aim is to make indoor localisation research more transparent, reproducible, and accessible without expensive hardware.

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