Rao-Blackwellized Gaussian Sum Particle Filtering for Multipath Assisted Positioning

Figure 10

The results of the KEST estimator for the outdoor measurements showing the propagation distances, that is, the ToAs multiplied by the speed of light, of signal components, versus the user traveled distance. Only signal components that are observable for long traveled distance are shown. The color indicates the estimated received power for the signal components in dB.