Research Article
A Clustering-Based Approach for Improving the Accuracy of UWB Sensor-Based Indoor Positioning System
Algorithm 2
The Kalman filter algorithm in pseudocode.
| Input: Q, R, z, Xest, Pest | | Output: , | | Step 1. Initialize T matrix and M matrix | | Step 2. Predict the state vector and the covariance: | | Xprd = T Xest | | Pprd = T Pest | | Step 3. Estimation step: | | S = M | | B = M | | Step 4. Compute the Kalman gain factor: | | klm_gain = | | Step 5. Correction based on observation: | | = Xprd + klm_gain (z−M Xprd) | | = Pprd−klm_gain M Pprd | | Step 6. Return , |
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