Algorithm 1 Particle filter |
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1:
Initialize particles
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2:
while true do
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3:
Update particles with the movement model (Section 4.1.1)
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4:
Determine weight for every particle based on the UWB measurement (Section 4.1.2)
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5:
Return the particle with highest weight
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6:
Resample (Section 4.1.3)
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7:
end while
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