Light-Weight Integration and Interoperation of Localization Systems in IoT

. 2018 Jul 3;18(7):2142. doi: 10.3390/s18072142

Algorithm 1 Localization calculation for a device with multiple localization technology.

1:
For every position update, do:
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$newPos [X, Y] \leftarrow [X V a l u e, Y V a l u e]$
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$accuracy \leftarrow [U n c e r t a i n t y]$
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$timestamp \leftarrow [T i m e s t a m p]$
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if $currentPosition = n u l l$ then ▹ First position measurement
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$currentPosition \leftarrow newPos [X, Y]$
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$lastPositionUpdate \leftarrow timestamp$
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return $c u r r e n t P o s i t i o n$
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end if
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if $timestamp - lastPositionUpdate > m a x A g e$ then ▹ No other measurements for post-processing
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$currentPosition \leftarrow newPos [X, Y]$
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$lastPositionUpdate \leftarrow timestamp$
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else
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$currentPosition \leftarrow calculateNewPosition (newPos [X, Y], timestamp, accuracy)$ ▹ Post-processing or filtering
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$lastPositionUpdate \leftarrow timestamp$
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end if
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return $c u r r e n t P o s i t i o n$