Nonlinear Filtering for Hybrid GPS/GSM Mobile Terminal Tracking

<table>Field trial scenario with true MT trajectory, approximate BS locations (<svg height="7.6750002" id="M455" 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>), and estimated trajectories of the GSM method for the different filters.</table>

International Journal of Navigation and Observation

fig14

Figure 14

Figure 14: Nonlinear Filtering for Hybrid GPS/GSM Mobile Terminal Tracking 