Mobile Information Systems / 2017 / Article / Alg 1

Research Article

Positioning Using Terrestrial Multipath Signals and Inertial Sensors

Algorithm 1

Channel-SLAM for time instant .
Input:
Multipath estimates: , and ;
States for :
Output:
States for ≥:
MMSE estimate: for
() if then
() Initialization using and ;
() else
() for do
() Draw ;
() if New paths detected then
() Initialize new subPFs;
() if Tracking of paths lost then
() Delete corresponding subPFs;
() for do
() for do
() Assign ;
() Calculate ;
() Calculate total subPF weight:
;
() ;
() Resample using Algorithm 2;
() Calculate MMSE according to (31);

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