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

<div>Position estimates of the particle filter in GPS + WLAN, GPS-only, and WLAN-only configuration and of the extended Kalman filter and the ground truth of Trajectory-1.</div>

Mobile Information Systems

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Figure 2

Figure 2: Ubiquitous and Seamless Localization: Fusing GNSS Pseudoranges and WLAN Signal Strengths 