Rao-Blackwellized Gaussian Sum Particle Filtering for Multipath Assisted Positioning

<div>Top view of the measurement scenario in front of a hangar. The physical transmitter location is marked by the red triangle labeled Tx. The user travels along the blue track from START to END. The expected virtual transmitter locations are marked by the magenta downward triangles.</div>

Journal of Electrical and Computer Engineering

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Figure 9

Figure 9: Rao-Blackwellized Gaussian Sum Particle Filtering for Multipath Assisted Positioning 