Research Article
Method for Improving Indoor Positioning Accuracy Using Extended Kalman Filter
Figure 3
Comparison between Kalman filter and extended Kalman filter (the state transition matrix () has the following differences: (a) it is not a Jacobian matrix with a linear property; (b) its value is defined in accordance with a Jacobian matrix having nonlinear properties).
(a) Kalman filter |
(b) Extended Kalman filter |