Research Article
Robust Self-Contained Pedestrian Navigation by Fusing the IMU and Compass Measurements via UFIR Filtering
Algorithm 2
UFIR filter algorithm for the self-contained scheme.
Data: , , | Result: | (1) begin | (2)for do | (3) | (4) | (5) | (6) | (7)if then | (8) | (9) | (10)end if | (11)if then | (12) | (13)end if | (14)for do | (15) | (16) | (17) | (18) | (19)end for | (20) | (21)end for | (22) end | (23) āā is the state vector size | (24) āā is the filtering horizon size |
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