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Received signal strength–based indoor localization using a robust interacting multiple model–extended Kalman filter algorithm

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Academic year: 2021

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Figure

Figure 2. Two-state Markov switching model.
Figure 7. Estimated distance according to probability performance h 1 k to AP 5 for one realization.
Figure 10. Average RMSE performance of the distance estimation between the mobile target and every AP.
Figure 14. Office map. Anchor point locations and mobile path are marked. The real dmax is 15 m in straight line.
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