Ubiquitous and Seamless Localization: Fusing GNSS Pseudoranges and WLAN Signal Strengths

Figure 1

Test bed and trajectories. Circles indicate starting point of the trajectories. (Notice, the trajectory actually followed the existing paths, which are illustrated by densely dotted orange lines. The markers of the trajectories are the positions at which the WLAN data was recorded; they are obtained from the measurements overlaid on the test bed map. The mismatch between the trajectories and the background image is due to errors of the overlay procedure, errors of the experimenter marking the measurement positions on the map, and issues when dealing with geographic data, such as projections and coordinate transformations.)