Adds CMMotionActivity to ParticleFilter and simulation. Particles are just weighted if motion data is available or if device is stationary.
Changes particle generation. Particles are just generated around the nearest beacon.
Fixes some crashes (devided by 0, ...)
Measurement store does not need to keep capacity.
ParticleFilter prametrization. Disables random particle generation.
Adds small amount random particles. (p = 5 %)
Fixes problem if timestamp of logged data is earlier than logged data start date.
Changes (improves) particle filter algorithm. Splits um a motion in further submotions to integrate measurements in between.
Adds histogram to measure particle set diversity and to add random particles to garantee a certain diversity.