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);