Combined Particle/FIR Filtering for Indoor Localization Based on Wireless Sensor Networks

摘要

In this paper, we propose a new nonlinear filtering algorithm that can provide more accurate and reliable localization compared with the pure particle filtering (PF). In the proposed algorithm, failures of the PF are detected, and the failed PF is recovered using a finite impulse response (FIR) filter. The resulting filter is called the combined particle/FIR filter (CPFF). We demonstrate the performance of the CPFF by the indoor human localization.