Research Article
SHAKF-PU: Sage–Husa Adaptive Kalman Filtering-Based Pedestrian Characteristic Parameter Update Mechanism for Enhancing Step Length Estimation in Pedestrian Dead Reckoning
Input: Z, X, K, e, P, d, q, Q, r, R, t | Output: X | (1) Xold ← X | (2) Pold ← P | (3) Xf ← F × X + B × q | (4) Pf ← F × F + B × Q × B | (5) K ← Pf × H/(H × Pf × H + R) | (6) e ← Z−H × Xf−r | (7) X ← Xf + K × e | (8) P ← (I−K × H) × Pf | (9) d ← (1−b)/(1−pow (b, t + 1)) | (10) q ← (1−d) × q + d × (X–F × Xold) | (11) Q ← (1−d) × Q + d × (K × e × e × K + P-F × Pold × F) | (12) r ← (1−d) × r + d × (Z−H × Xf) | (13) R ← (1−d) × R + d×(e × e−H × Pf × H) | (14) return X |
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