An Indoor Localization Method Based on the Combination of Indoor Map Information and Inertial Navigation with Cascade Filter

Figure 8

The results of the KF with nonrecursive PF-cascaded INS for different distance conditions.

(a) The test distance is 215.94 m

(b) The test distance is 431.88 m

(c) The test distance is 647.82 m

(d) The test distance is 867.76 m