Rao-Blackwellized Gaussian Sum Particle Filtering for Multipath Assisted Positioning

Figure 7

The results of the KEST estimator for the simulations showing the propagation distances of signal components versus the user traveled distance. The propagation distances are the ToA multiplied by the speed of light. Only signal components that are observable for a traveled distance of at least 35 m are shown. The color indicates the normalized amplitude in linear domain.