Rao-Blackwellized Gaussian Sum Particle Filtering for Multipath Assisted Positioning

Figure 2

Based on the received signal, the parameters of the propagation paths are estimated in the first step by the KEST algorithm. In the second step, the estimates serve as measurements for estimating the positions of the user and the physical and virtual transmitters. In addition, user heading rates of change measurements from an IMU are incorporated in the second step.