An Indoor Localization Method Based on the Combination of Indoor Map Information and Inertial Navigation with Cascade Filter

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/js/volume-2021/7621393/figures/7621393.fig.007a.svgz" name="7621393.fig.007a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Experimental real path</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/js/volume-2021/7621393/figures/7621393.fig.007b.svgz" name="7621393.fig.007b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>The velocity is 1.1 m/s</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/js/volume-2021/7621393/figures/7621393.fig.007c.svgz" name="7621393.fig.007c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>The velocity is 2.1 m/s</td></tr><tr class="fig-image" id="d"><td><object data="https://static.hindawi.com/articles/js/volume-2021/7621393/figures/7621393.fig.007d.svgz" name="7621393.fig.007d" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(d) </b>The velocity is 3.1 m/s</td></tr></table>

<div>The KF with nonrecursive PF-cascaded INS results for different velocity conditions.</div>

Journal of Sensors

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Figure 7

Figure 7: An Indoor Localization Method Based on the Combination of Indoor Map Information and Inertial Navigation with Cascade Filter 