Reduced-Complexity Algorithms for Indoor Map-Aware Localization Systems

Algorithm 3

Implementation of the MAP strategy (14) based on an iterative compass search ().

Require: covering of (2); (15); and (Table 1).

(1) for     do

(2)  

(3)  ,

(4)  while     do

(5)   

(6)   for d     do

(7)    

(8)    if   and   then

(9)     ,

(10)     bImproved ← True, break

(11)    end if

(12)   end for

(13)    only if bImproved = False

(14)  end while

(15) end for

(16) ,