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The original was posted on /r/homeassistant by /u/maxi1134 on 2025-06-29 18:10:10+00:00.
I see a lot of people recommending [Bermuda](https://github.com/agittins/bermuda) for trilateration.
While it does work well, I'd like to bring the presence detection freak's attention to Espresense.
While harder to set up, It offers IMO a better degree of accuracy by using ACTUAL trilateration.
Many of you might have tried it and had bad results, and I must admit that I was among those people for the longest time.
Now, here are the steps I took to better that detection to a more-than-acceptable level. ( 90%+ accurate in my case )
0: Install Espresense Companion (Map trilateration addon)
1: Place the Nodes at the corners of rooms instead of alongside walls.
1.1: This will help you to easily place the entities on the software floorplan.
1.2: This will allow for a more grid base pattern, which seems to work better in my experience.
Example of a sane disposition (I have 8 more ESP32 on the way to better cover the kitchen->patio area)
(Here you can see my previous disposition, which led to less than usable results)
2: Measure the rooms WITH their closet being included in the plan room while creating the plan
(This will avoid the deadspace between rooms being reported as 'home' or 'main floor'.)
2.1: Measure WELL. I mean up to a CM of accuracy.
2.2: Set the HEIGHT of each node in the floorplan-creator
3: Optimize the settings
3.1: Set the correct RSSI@1m(eter)
3.2: Let the optimizer run a few hours
4: Combine sensors (This really helps)
4.1: Create a template sensor that iterates across all beacons that track one entity into one single sensor.
4.X: (You can even combine Bermuda and ESPRESENSE sensor this way!)
(I personally use the closest location of 3 beacons along their ESPRESENSE location)
And here is an example of some of the automation I use with this:
Hibernate Maxi Desktop when he leaves the Salon for more than 20 minutes
Alert maxi in the room where he is when his phone rings and in which room it rings
Alert maxi that his laptop battery is low in the room in which he is
Mute speakers in the room where maxi is located if maxi uses a microphone
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