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This paper presents an algorithm based on the Robust Extended Kalman filter (REKF) for non-line-of-sight (NLOS) mitigation and sensor data fusion. The aim is to locate an off-the-shelf smartphone using only its speaker and its inertial measurement unit (IMU). The target emits inaudible sound signals which are detected by static receivers on the ceiling. Then, its position can be estimated using time...
Unsynchronized localization systems based on the measurement of time (difference) of arrival require reliable time stamps of the received signal. Noise, frequency shifts, and echoes disturb the signal and induce measurement errors of the time stamp, which leads to localization errors. Furthermore, the line of sight (LOS) signal has to be distinguished from the echoes to avoid false signal tracking...
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