Research Article
SHAKF-PU: Sage–Husa Adaptive Kalman Filtering-Based Pedestrian Characteristic Parameter Update Mechanism for Enhancing Step Length Estimation in Pedestrian Dead Reckoning
Algorithm 1
Enhanced SLE based on SHAKF-PU.
Input: RAz, RSSI1, RSSI2 | Output: Location point LP | (1) RPstate ← ISpassRP (RSSI1, RSSI2) | (2) if (RPstate = = −1) { | (3) Lsum ← 0 | (4) return Lsum } | (5) if (RPstate = = 0) { | (6) Lsum ← Calculate_step_length (RAz, s) + Lsum | (7) return Lsum } | (8) if (RPstate = = 1) { | (9) Rs ← s × D/Lsum; | (10) s ← SHAKF-PU (Rs, s, K, e, P, d, q, Q, r, R, t) | (11) return D } |
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