A Three-Dimensional Wireless Indoor Localization System

Algorithm 1

Correction at boundary crossing.

Output: 𝐿→ the limit for estimated position

(1)  Input area sequence number 𝑛

(2)  Get 𝔹_𝕟 as defined in (40)

(3)  Get the estimated angle for current moving (𝜃) to calculate the Dir and 𝐿𝑣 as is defined in (43) and (42)

(4)  temp=𝐿+𝐿𝑣

(5)  for  𝑖=1;𝑖≤2  do

(6)   if  temp_𝑖,𝑗, 𝑗=3−Dir_1,𝑖  inside subarea  then

(7)   𝐿_𝑖𝑗=temp_𝑖,𝑗

(8)    else

(9)   𝑈𝑠𝑒𝑑𝐵𝑜𝑟𝑑𝑒𝑟←𝔹_𝕟(𝑖,3−Dir_1,𝑖)

(10)    𝐿_𝑖,𝑗=𝑈𝑠𝑒𝑑𝐵𝑜𝑟𝑑𝑒𝑟

(11)   𝐿_{𝑖,Dir1,𝑖}=𝐿_{𝑖,3−Dir1,𝑖}  +  2𝐿𝑣_{𝑖,Dir1,𝑖};

(12) 𝑒𝑠𝑡𝑃𝑜𝑠←∑(𝑥_𝑘,𝑦_𝑘)/𝑛𝑢𝑚𝑏𝑒𝑟𝑜𝑓(𝑥_𝑘,𝑦_𝑘) where (𝑥_𝑘,𝑦_𝑘)∈𝑠𝑢𝑏𝑎𝑟𝑒𝑎(𝑛)&&(𝑥_𝑘,𝑦_𝑘)∈𝐿𝑖𝑚𝑖𝑡(𝑡)