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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...
The reliability of an indoor localization system is often limited by the capability of the systems of distinguishing the line-of-sight signals in environments with multipath. Besides, estimating the height of the target can be challenging due to dilution of precision (DOP) and non line of sight (NLOS) situations. However, the reflections can be used to infer information about the scenario. We present...
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