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

<div>Particle filter, extended Kalman filter estimates, and ground truth of Trajectory-2. Results of the particle filter are shown for the three configurations GPS + WLAN, GPS-only, and WLAN-only.</div>

Mobile Information Systems

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Figure 5

Figure 5: Ubiquitous and Seamless Localization: Fusing GNSS Pseudoranges and WLAN Signal Strengths 