Mobile Information Systems / 2017 / Article / Alg 2

Research Article

Positioning Using Terrestrial Multipath Signals and Inertial Sensors

Algorithm 2

Channel-SLAM resampling algorithm.
Input:
States and weights:
Output:
Resampled states and weights:
() Initialize the CDF for superPF: ;
() for do
() Construct CDF for superPF:
;
() ;
() Draw starting point: ;
() for do
() ;
() while do
() ;
() Assign: ;
() for do
() Initialize the CDF for -th subPF:
;
() for do
() Construct CDF for subPF:
;
() ;
() for do
() ;
() while do
() ;
() if then
() Assign: ;
() ;
() ;
() Update number of particles: ;
() for do
() Draw from the Gaussian-Kernel;
() Assign: ;

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