Constraint Kalman filter for indoor bluetooth localization

@article{Chen2015ConstraintKF,
  title={Constraint Kalman filter for indoor bluetooth localization},
  author={Liang Chen and Heidi Kuusniemi and Yuwei Chen and Jingbin Liu and Ling Pei and Laura Ruotsalainen and Ruizhi Chen},
  journal={2015 23rd European Signal Processing Conference (EUSIPCO)},
  year={2015},
  pages={1915-1919}
}
This paper studies sequential estimation of indoor localization based on fingerprints of received signal strength indicators (RSSI). Due to the lack of an analytic formula for the fingerprinting measurements, the Kalman filter can not be directly applied. By introducing a hidden variable to represent the unknown positioning coordinate, a state model is formulated and a constrained Kalman filter (CKF) is then derived within the Bayesian framework. The update of the state incorporates the prior… CONTINUE READING