An Improved Particle Filter Algorithm for Geomagnetic Indoor Positioning

Algorithm 1

Step 1. Initialization:

   t = 0, draw particles uniformly with

Step 2. Calculate the positioning error:

   t = 1, the initial positioning error is treated as the

Step 3. Particle iteration:

   For time steps t = 1, 2, …

   For particle numbers i = 1: N

IF

    The particle state is shifted:

    Get mobile vector online observations:

    Weight update:

  END IF

  END FOR

Step 4.

  Make CDF of and

  For particle numbers i = 1: N

  Draw

  Resample

END FOR

Step 5. Output the weighted position: