Lora RTT Ranging Characterization and Indoor Positioning System

Table 2

Particle filter algorithm.

Process	Content
Initialization	Let and
Iteration
(1) Measurement update	For , where the normalization weight is given by
(2) Estimation	The filtering density is approximated by
(3) Resampling	Optionally at each time, take samples with replacement from the set , where the probability to take sample is and let
(4) Time update	Generate predictions according to the proposal distribution: , and compensate for the importance weight