Quote
J. Lategahn, M. Müller, and C. Röhrig, "Extended Kalman filter for a low cost TDoA/IMU pedestrian localization system," in Proceedings of the 5th International Conference on Indoor Positioning and Indoor Navigation (IPIN), 2014, pp. 465-472.
References
DOI 10.1109/IPIN.2014.7275518