Robust Extended Kalman Filtering in Hybrid Positioning Applications

4th WORKSHOP ON POSITIONING, NAVIGATION AND COMMUNICATION 2007 (WPNC’07), HANNOVER, GERMANY
best estimates. More sophisticated robust filter should be able
to indentify certain situations and apply the most convenient
robust model to them, but this is beyond the scope of this
paper and left for future study.
ACKNOWLEDGMENT
This study was funded by Nokia Corporation. The EKF
and EKF2 used for reference were implemented by Simo Ali-
Löytty and the simulation test bench was generated using Niilo
Sirola’s test bench generator [8].
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