Kalman-type positioning filters with floor plan information

  title={Kalman-type positioning filters with floor plan information},
  author={Tommi Per{\"a}l{\"a} and Simo Ali-L{\"o}ytty},
A family of Kalman-type filters that estimate the user's position indoors, using range measurements and floor plan data, is presented. The floor plan information is formulated as a set of linear constraints and is used to truncate the Gaussian posterior probability densities occurring in the Kalmantype filters. The truncated Gaussian is approximated with a new Gaussian density such that the mean and the covariance matrix coincide approximately with the mean and the covariance matrix of the… CONTINUE READING


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