[Retracted] Magnetic Matching-Aided Indoor Localization System Based on a Waist-Mounted Self-Contained Sensor Array

Algorithm 2

Procedure of augmented particle filter.

Generate N random particles from an initial area

for each step do

 for each particle do

  Update position and heading by motion model as Equation (3) and (4).

  Evaluate the weight of particles by measurement model as Equation (7).

 end for

 Normalize the weights.

 Resample N particles from old particles according to the discrete distribution given by their weights.

 Estimate the user’s optimal state by Equation (8).

end for