A Modified Kalman Filter for Hybrid Positioning

S. Ali-Löytty, N. Sirola

Abstract:	This paper presents a new hybrid positioning algorithm whereby restrictive information such as base station sector and maximum range can be used in a Kalman-type filter. This new algorithm is fast to compute and gives almost the same accuracy as the particle filter with millions of particles. Simulations show that in some cases restrictive information such as mobile phone network sector and maximum range information dramatically improve filter accuracy. We also present the mathematical fundamentals of the algorithm.
Published in:	Proceedings of the 19th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2006) September 26 - 29, 2006 Fort Worth Convention Center Fort Worth, TX
Pages:	1679 - 1686
Cite this article:	Ali-Löytty, S., Sirola, N., "A Modified Kalman Filter for Hybrid Positioning," Proceedings of the 19th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2006), Fort Worth, TX, September 2006, pp. 1679-1686.
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