Journal of Sensors / 2018 / Article / Alg 1

Research Article

An Improved Particle Filter Algorithm for Geomagnetic Indoor Positioning

Algorithm 1

Step 1. Initialization:
   t = 0, draw particles uniformly with
Step 2. Calculate the positioning error:
   t = 1, the initial positioning error is treated as the
Step 3. Particle iteration:
   For time steps t = 1, 2, …
   For particle numbers i = 1: N
IF
    The particle state is shifted:
    Get mobile vector online observations:
    Weight update:
  END IF
  END FOR
Step 4.
  Make CDF of and
  For particle numbers i = 1: N
  Draw
  Resample
END FOR
Step 5. Output the weighted position: