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

<div>Empirical error distribution function of the particle filter in GPS + WLAN, GPS-only, and WLAN-only configuration and of the extended Kalman filter for Trajectory-1.</div>

Mobile Information Systems

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Figure 4

Figure 4: Ubiquitous and Seamless Localization: Fusing GNSS Pseudoranges and WLAN Signal Strengths 