The proposed VB-UKF plus Huber plus conformal outlier detection framework improves geomagnetic indoor localization accuracy in the authors' experiments, from 81.25% to 93.75% matching accuracy and from 0.62-6.87 m to 0.03-0.35 m error.
Kalman filter: historical ove rview and review of its use in robotics 60 years after its creation,
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Robust Indoor Localization via Conformal Methods and Variational Bayesian Adaptive Filtering
The proposed VB-UKF plus Huber plus conformal outlier detection framework improves geomagnetic indoor localization accuracy in the authors' experiments, from 81.25% to 93.75% matching accuracy and from 0.62-6.87 m to 0.03-0.35 m error.