@inproceedings{ray_comparison_2018,
	title = {A {Comparison} of {Particle} {Propagation} and {Weight} {Update} {Methods} for {Indoor} {Positioning} {Systems}},
	url = {http://www.ion.org/publications/abstract.cfm?jp=p&articleID=16075},
	doi = {10.33012/2018.16075},
	abstract = {This work is a comparison of Particle Filters (PFs) in the field of indoor positioning, that use different types of particle propagation and weight update methods. The PFs fuse standalone pedestrian dead-reckoning (PDR) and building maps to perform accurate pedestrian localization. This work proposes a new weight update method based upon the weaknesses of the current PF methods in certain situations. The situations of interest are when map only constrains the single side of the particle cloud. This occurs when a pedestrian moves along a wall in a wide corridor, or in a room where the outer wall is the only feature constraining the pedestrian’s motion. Current PF weight update methods shift the mean of the particle distribution away from the wall towards open space. This produces an undesired estimate that introduces drift into the position solution. The proposed method seeks to reduce this error to improve the navigation solution. A detailed performance evaluation of existing and new methods is presented using experimental data.},
	language = {en},
	urldate = {2024-06-20},
	author = {Ray, Tanner N. and Pierce, J. Dan and Bevly, David M.},
	month = sep,
	year = {2018},
	pages = {3398--3408},
}

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