Real time localization system with Extended Kalman Filter for indoor applications

This paper presents the radio based localization system for indoor applications. For position determination radio COTS transceiver chip was used. Localization accuracy was improved by developing Extended Kalman Filter with modified PV model. Mathematical model of the nonlinear filter was presented and implemented. The described model as well as designed localization system was tested in a realistic environment. Presented results show accuracy of the localization system and enable the assessment possibility of using proposed localization system in further navigational investigations.