iBeacon Sensortag angular location

Thank you for your time to read in entirety & understanding before responding. You must be very adept with embedded systems HW/FW/iBeacons, multi Degree of Freedom 3D position determination. A reasonably accurate 3D position (x,y,z) calculation & reporting is desirable. Please submit your questions with initial response or start your response with “No Questions” to confirm your compliance. We have 3 TI Sensortag CC2650STK with onboard inertial sensors units in office. CC2650STK Development kit | [login to view URL] [login to view URL] TI may have upgraded it now. If so, please inform us & we shall review the use of it. This is a dev kit, (the MCU is CC2560) so the final solution will run on the runtime version, which you also need to help identify and use. If you know better mousetrap for this need, please advise with details for approval. We shall refer to it as ST from now on. Please refer to attachment for more info. We need you to build software app for external gateway (X-platform for Windows, Linux, Android, Apple) and any embedded software work on ST needed. The gateway will be a RPi4 unit. The ST will be housed within a small plastic box enclosure, in any 3D orientation. The box will be mounted on top of a plant process valves for quarter-turn & multi-turn manual valves or suitable actuated valves. It will move in one of 3 ways - around its center, in a circular radial motion (position1, 4), or the box will move in a linear motion in space from point A to B (position 3). Position 1,3 will also count rotations. Any of these 3 motions will happen in any 3D plane and the movement will be by hand, so will be jerky. The box will be in a shaking environment with constant ambient vibration. Typically, the linear motion may be anywhere from 3CM (centimeter) to 40CM span, radius 0 to 20CM or so. The barometric pressure will be used to confirm vertical position also. You may use any inertial or other sensors onboard ST or can suggest any other suitable means like trilateration etc., using additional STs as reference for known locations (x,y,z) space. A better than 1 CM location accuracy is desired. The onboard LED shall confirm the fully open/closed state reach. Also, use the ST push-button to enter into calibration/ diagnostics mode. The app external to ST will be X-platform and will need calibration, configurations, constant parameters etc. to be saved and any diagnostics, monitoring to be provided via UI. Appropriate data will have to be stored on ST also, locally, so the ST operates autonomously when Gateway or mobile app are absent or during battery replacement data is retained. Multiple ST units will need to be handled, one at a time, by the Gateway & mobile app. If milestone payments are needed, please provide desired milestones. Payment will only be made after submission of work till that date & approval by us. If you did not specify milestones, then a single payment will be made at completion. If you did not specify delivery time, we expect a 2 week delivery after award. The budget given here is a placeholder only, so please quote your best bid with delivery.