The animation above shows floor plans of three levels of a building with six “responders” (WiFi access points advertizing IEEE 802.11mc FTM RTT) shown in green, and the estimates of positions computed by an Android smartphone shown in red, as it is carried upstairs and around floors. The position is recovered in 3-D and then quantized to floor level for plotting. Here the floor plan is only for visualization and not used in the computation of the position of the phone. As a result, the red dot may at times appear to pass through a wall or even appear outside the building.
The final position accuracy is about a meter or two (aside from the occasional outlier), while the raw distance measurements have a 10% to 90% CDF (cumulative distribution function) range of between say 0.2 and 0.8 meter, depending on circumstances (see Measurement Error). The “dilution of precision” (noise gain), depends on the positions of the responders, and varies throughout the volume. Optimal placement of responders is an open problem (see FTM RTT Placement), as is the best way to deal with the measurement errors.
You can download the WifiRttScan App from Google (the app will only install on phones that support FTM RTT and run Android Pie or later). They say the following: “The WifiRttScan app is a research, demonstration, and testing tool for developers, vendors, universities, and more. With this app it is possible to obtain a 1-2 meter range accuracy to nearby WiFi RTT (IEEE 802.11mc) capable access points. This is especially useful indoors where GPS is not available. Developers, OEMs and researchers can use this tool to validate range measurements enabling the development of positioning, navigation and context-aware applications based on the WiFi-RTT API.”
Click on the following image