Table 1 DRMBL algorithm
From: Differential radio map-based robust indoor localization
1. Initialization: t = 0, 1 |
|---|
   Adopt the estimation of RADAR as the initial estimation. |
2. While (t > 1) do |
   2.1 Prediction update |
A. Estimate the velocity and direction using Equations 10 and 11 |
B. Make prediction using Equation 12 |
   2.2 Observation update |
A. Calculate the observation likelihood function of each particle with Equation 16 |
B. Calculate the normalized weight for each particle |
   2.3 Adopt the weighted mean of the particles as the current location estimation |
   2.4 Resample, if necessary |
   End |