Nonlinear Filtering for Hybrid GPS/GSM Mobile Terminal Tracking

<table>Simulation Scenario I with <svg height="15.4375" id="M324" style="vertical-align:-3.41936pt" version="1.1" viewbox="0 0 55.825001 15.4375" width="55.825001" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.112)"><path d="M857 650l-6 -28q-44 -4 -61.5 -16.5t-29.5 -48.5q-11 -32 -37 -166l-78 -399h-29l-351 537h-4l-56 -276q-24 -120 -24 -164q0 -35 17.5 -46t75.5 -15l-6 -28h-245l7 28q41 2 62 14t31 44q10 30 41 171l53 245q8 44 6.5 60.5t-14.5 33.5q-10 15 -27 19.5t-64 6.5l6 28h153
l350 -516h5l48 257q25 131 25 171q0 34 -17.5 45t-77.5 15l7 28h240z" id="x1D441"></path></g>
<g transform="matrix(.012,-0,0,-.012,14.925,15.187)"><path d="M372 352v-2q176 -27 176 -159q0 -99 -95 -151q-73 -40 -196 -40h-221v28q65 5 78.5 19t13.5 76v404q0 63 -12 77t-72 18v28h257q102 0 150 -34q26 -18 41 -48.5t15 -65.5q0 -111 -135 -150zM213 362h47q80 0 117.5 32t37.5 96q0 56 -33 92t-100 36q-41 0 -56 -10
q-13 -8 -13 -50v-196zM213 328v-203q0 -54 17 -72.5t66 -18.5q67 1 110.5 37t43.5 110q0 147 -192 147h-45z" id="x42"></path></g><g transform="matrix(.012,-0,0,-.012,21.921,15.187)"><path d="M409 504l-29 -5q-16 60 -44.5 96t-86.5 36q-54 0 -82.5 -32t-28.5 -77q0 -51 30.5 -82.5t96.5 -65.5l35.5 -18t33 -19.5t33.5 -23.5l27 -25.5t24.5 -32t13.5 -36.5t6 -45q0 -80 -62 -134.5t-160 -54.5q-47 0 -98 15q-22 7 -50 21q-8 23 -27 155l30 7q7 -27 18 -52
t30 -51.5t49 -42.5t67 -16q56 0 88 32.5t32 87.5q0 51 -31.5 82t-98.5 67q-80 44 -110 73q-55 53 -55 124q0 75 56 126.5t150 51.5q53 0 126 -23z" id="x53"></path></g>
<g transform="matrix(.017,-0,0,-.017,32.9,11.112)"><path d="M535 323h-483v50h483v-50zM535 138h-483v50h483v-50z" id="x3D"></path></g><g transform="matrix(.017,-0,0,-.017,47.587,11.112)"><path d="M447 623l8 -12l-283 -613l-74 -10l-7 11q174 283 297 551h-216q-48 0 -62.5 -12t-33.5 -63h-29q10 60 18 148h382z" id="x37"></path></g>
</svg> BSs (<svg height="7.6750002" id="M325" style="vertical-align:-0.0pt" version="1.1" viewbox="0 0 9.0124998 7.6750002" width="9.0124998" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,7.613)"><path d="M455 252q0 -79 -57 -136t-136 -57q-80 0 -136 56q-56 58 -56 137q0 77 56 135q57 57 136 57q84 0 138 -56q55 -55 55 -136z" id="x2022"></path></g>
</svg>). The arrows (<svg height="7.6374998" id="M326" style="vertical-align:-0.0pt" version="1.1" viewbox="0 0 22.012501 7.6374998" width="22.012501" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,2.9,7.575)"><path d="M901 255q-71 -62 -185 -187l-22 15l102 147h-727v50h727l-102 147l22 15q114 -125 185 -187z" id="x2192"></path></g>
</svg>) indicate the BS antenna boresight direction.</table>

International Journal of Navigation and Observation

Nonlinear Filtering for Hybrid GPS/GSM Mobile Terminal Tracking

Figure 1