Positional estimation method using one-step movements and an inertial navigation system

Abstract

A method for estimating the position of a mobile device. Initializing an Extended Kalman Filter. Moving mobile device from a first unknown position (x, y) at a first time tto a second unknown position (x, y) at a second time t. Measuring distance traveled d and angle traveled θ between the first unknown position and the second unknown position. Calculating a first possible position (x, y) at the first time and a second possible position (x, y) the second time. Using the Extended Kalman Filter, a predicted first unknown position ({circumflex over (x)}, ŷ) is calculated at the first time. A first final value is calculated according to √{square root over (({circumflex over (x)}−x)+(ŷ−y))}. A second final value is calculated according to √{square root over (({circumflex over (x)}−x)+(ŷ−y))}. If the first final value is less than or equal to the second final value, the first possible position (x, y) is output. Otherwise, the second possible position (x, y) is output.