Indoor Vision/INS Integrated Mobile Robot Navigation Using Multimodel-Based Multifrequency Kalman Filter

Algorithm 1

The multifrequency Kalman filter based on the multimodel integrated navigation scheme.

(1)	Input:, , , , ; Output:
(2)	fordo
(3)	if The robot turns then
(4)	;
(5)	end if
(6)	;
(7)	;
(8)	ifthen
(9)	;
(10)	;
(11)	;
(12)	else
(13)	;
(14)	;
(15)	end if
(16)	end for
(17)	end