Figure 1From: Kalman filter with a linear state model for PDR+WLAN positioning and its application to assisting a particle filterEffect of outlier removal and MIMO compensation on position estimates. The initial estimate (red dash-dot) is heavily influenced by the outlier. After outlier removal, the estimate (green dash) is biased and shrunk by the trio of similar CAs. After MIMO compensation, the estimate (black solid) has reasonable location and scale.Back to article page