REDUCTION OF THE IMPACT OF HARD LIMIT CONSTRAINTS IN STATE SPACE MODELS

摘要

Location of mobile device in venue is estimated by using state space estimator to determine candidate locations of the mobile device at first time point based on previous candidate positions conditioned upon observation of one or more environmental variables. Second observation is received at second time point, and the state space estimator performs propagation step to determine the candidate locations at the second time point based on the candidate locations at the first time point and the second observation. The propagation step includes sub-propagation steps in which time length between the sub-propagation steps is a fraction of the time length between the first and second time points, and at each sub-propagation step each candidate location is propagated according to a stochastic process. The location of the mobile device at the second time point is determined based on the candidate locations at the second time point.