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: ;