Research Article
UWB/PDR Tightly Coupled Navigation with Robust Extended Kalman Filter for NLOS Environments
Algorithm 1
REKF algorithm Pseudocode.
| | Filtering: for t = 1, 2,… | | (1) | State prediction | | (2) | For each measurement | | (3) | while | | (4) | | | (5) | Recalculate based on Formula (23) | | (6) | end | | (7) | end | | (8) | State update |
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