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Table 2 Pseudo-code of height estimation

From: Hardware and software design of BMW system for multi-floor localization

Algorithm: Height estimation

Data: P o s i t i o n i n g_r e s u l t(x,y);

Result: Height of the target;

1 if (x,y) is located in the staircase

2 if Pressure value rises

3 h t =h t−1+h stair ;

4 else if Pressure value drops

5 h t =h t−1−h stair ;

6 else

7 h t =h t−1;

8 end

9 else

10 h t =h t−1;

11end