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Radioelectronic Systems Conference 2019
One of the most common methods of navigation data integration is the use of a Kalman filter. The paper presents a computer application facilitating testing of the properties of a Kalman filter, designed for a pedestrian or a robot positioning system using range measurements to several base stations. The description of the system is composed of a linear dynamics model and a non-linear observation model. Due to the non-linearity of the observation model, an extended Kalman filter (EKF) was chosendoi:10.1117/12.2565121 fatcat:q7a3gb656veqzjbayabsepw6f4