Research Article
An Improved Particle Filter Algorithm for Geomagnetic Indoor Positioning
Step 1. Initialization: | t = 0, draw particles uniformly with | Step 2. Calculate the positioning error: | t = 1, the initial positioning error is treated as the | Step 3. Particle iteration: | For time steps t = 1, 2, … | For particle numbers i = 1: N | IF | The particle state is shifted: | Get mobile vector online observations: | Weight update: | END IF | END FOR | Step 4. | Make CDF of and | For particle numbers i = 1: N | Draw | Resample | END FOR | Step 5. Output the weighted position: | |
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