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arXiv · 1908.07279

Indoor Navigation Using Information From A Map And A Rangefinder

Mostafa Mansour·Oleg Stepanov
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Abstract

The problem of indoor navigation of mobile objects, using a map and measurements of distances to the walls is considered. A nonlinear filtering problem aimed at calculating the optimal, in the root-mean-square sense, of the sought parameters is formulated in the context of the Bayesian approach. The algorithm for its solution based on the point-mass method is described. The simulation results illustrating the advantages of the proposed problem statement and the resultant algorithm are discussed.

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Mostafa Mansour, Oleg Stepanov. 2019-08-20. Indoor Navigation Using Information From A Map And A Rangefinder. https://arxiv.org/abs/1908.07279

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