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. 2018 Jan 9;18(1):168. doi: 10.3390/s18010168
Algorithm 1 Particle filter
  • 1:

    Initialize particles

  • 2:

    while true do

  • 3:

        Update particles with the movement model (Section 4.1.1)

  • 4:

        Determine weight for every particle based on the UWB measurement (Section 4.1.2)

  • 5:

        Return the particle with highest weight

  • 6:

        Resample (Section 4.1.3)

  • 7:

    end while