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- Matti Raitoharju, Henri Nurminen, Robert Piché
- EURASIP J. Adv. Sig. Proc.
- 2015

Indoor positioning based on wireless local area network (WLAN) signals is often enhanced using pedestrian dead reckoning (PDR) based on an inertial measurement unit. The state evolution model in PDR is usually nonlinear. We present a new linear state evolution model for PDR. In simulated-data and real-data tests of tightly coupled WLAN-PDR positioning, the… (More)

- Philipp Müller, Matti Raitoharju, Robert Piché
- 17th International Conference on Information…
- 2014

Fingerprint-based (FP) positioning methods determine a receiver's position using a database of radio signal strength measurements that were collected earlier at known locations. For positioning with WLAN signals, nonparametric methods such as the weighted k-nearest neighbour (WKNN) method are widely used. Due to their large data storage and transmission… (More)

- Matti Raitoharju, Niilo Sirola, Simo Ali-Löytty, Robert Piché
- WPNC
- 2008

PNaFF (Personal Navigation Filter Framework) is a comprehensive simulation and filtering test bench that is being developed within the Personal Positioning Research Group at the Department of Mathematics of Tampere University of Technology. Hybrid positioning is a process where measurements from different sources are used to obtain position estimate. PNaFF… (More)

- Matti Raitoharju, Henri Nurminen, Robert Piché
- 2013 Conference on Design and Architectures for…
- 2013

Indoor positioning based on WLAN signals is often enhanced using pedestrian dead reckoning (PDR) based on an inertial measurement unit. The state evolution model in PDR is usually nonlinear. We present a new linear state evolution model for PDR. In simulated-data and real-data tests of tightly coupled WLAN-PDR positioning, we find that the positioning… (More)

- Matti Raitoharju, Ángel F. García-Fernández, Robert Piché
- Signal Processing
- 2017

- Matti Raitoharju, Simo Ali-Löytty, Robert Piché
- EURASIP J. Adv. Sig. Proc.
- 2015

In this work, we present a novel method for approximating a normal distribution with a weighted sum of normal distributions. The approximation is used for splitting normally distributed components in a Gaussian mixture filter, such that components have smaller covariances and cause smaller linearization errors when nonlinear measurements are used for the… (More)

- Matti Raitoharju, Simo Ali-Löytty
- IEEE Signal Processing Letters
- 2012

In the Gaussian mixture approach a Bayesian posterior probability distribution function is approximated using a weighted sum of Gaussians. This work presents a novel method for generating a Gaussian mixture by splitting the prior taking the direction of maximum nonlinearity into account. The proposed method is computationally feasible and does not require… (More)

- Matti Raitoharju, Robert Piché, Henri Nurminen
- 2016 19th International Conference on Information…
- 2016

For nonlinear systems there exist several Kalman filter extensions that linearize or do moment matching to approximate the nonlinear update. These algorithms usually assume Gaussian measurement noises. The assumption of Gaussian noises degrades the performance when the data contain outliers or are otherwise non-Gaussian. In this paper, we present a new way… (More)

- Matti Raitoharju, Robert Piché
- ArXiv
- 2015

Kalman filter extensions are commonly used algorithms for nonlinear state estimation in time series. In the literature, different approaches have been proposed to exploit the structure of the state and measurement models to reduce the computational demand of the algorithms. We present these code optimizations in a general form that allows them to be used… (More)

- Matti Raitoharju, Samu Kallio, Matti Pellikka
- ArXiv
- 2016

We present an empirical model for noises in color measurements from OLED displays. According to measured data the noise is not isotropic in the XYZ space, instead most of the noise is along an axis that is parallel to a vector from origin to measured XYZ vector. The presented empirical model is simple and depends only on the measured XYZ values. Our tests… (More)