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pybeepbeep is a python implementation of the BeepBeep cooperative ranging algorithm.

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A python implementation of the BeepBeep cooperative ranging algorithm.


pip3 install pybeepbeep


Chunyi Peng, Guobin Shen, Yongguang Zhang, Yanlin Li, and Kun Tan. 2007. BeepBeep: a high accuracy acoustic ranging system using COTS mobile devices. In Proceedings of the 5th international conference on Embedded networked sensor systems (SenSys ’07). Association for Computing Machinery, New York, NY, USA, 1–14. DOI:

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