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  • Indoor Positioning Using Federated Kalman Filter 

    Authors:Aybakan, Tarik; Kerestecioǧlu, Feza
    Publisher and Date:(IEEE, 2018)
    In this paper the performance of a multi-sensor fusion technique namely Federated Kalman Filter (FKF) is studied in the context of indoor positioning problem. Kalman filters having centralized and decentralized structures are widely used in outdoor positioning and navigation applications. Global Positioning System (GI'S) is the most commonly used system for outdoor positioning/navigation which cannot be used indoors due to the signal loss. In this study a decentralized structure for FKF is applied ...