SHAKF-PU: Sage–Husa Adaptive Kalman Filtering-Based Pedestrian Characteristic Parameter Update Mechanism for Enhancing Step Length Estimation in Pedestrian Dead Reckoning

Algorithm 1

Enhanced SLE based on SHAKF-PU.

Input: RAz, RSSI1, RSSI2

Output: Location point LP

(1) RPstate ← ISpassRP (RSSI1, RSSI2)

(2) if (RPstate = = −1) {

(3) Lsum ← 0

(4) return Lsum }

(5) if (RPstate = = 0) {

(6) Lsum ← Calculate_step_length (RAz, s) + Lsum

(7) return Lsum }

(8) if (RPstate = = 1) {

(9) Rs ← s × D/Lsum;

(10) s ← SHAKF-PU (Rs, s, K, e, P, d, q, Q, r, R, t)

(11) return D }