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Asked: 2026-05-27T10:15:31+00:00

I am doing a project on Indoor Positioning. I have used NS2 and a

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I am doing a project on Indoor Positioning. I have used NS2 and a matlab GUI named Senelex to find the original and estimated positions of nodes. Now I want to use a Kalman filter to estimate the position of the node/target.

For example:

If I consider the velocity of the target as constant, how can I use the determined values of estimated or original position of nodes to provide as input to a Kalman filter.

The following are the estimated position and original position of nodes.

ori = [6.62650602409639 194.444444444445;
        6.62650602409639 10.6837606837607;
        192.168674698795 7.83475783475797;
        192.168674698795 191.595441595442;
        70.4819277108434 171.652421652422;
        129.518072289157 168.803418803419;
        24.6987951807229 144.586894586895;
        42.7710843373494 79.0598290598291];


est   = [6.62650602409639 194.444444444445;
            6.62650602409639 10.6837606837607;
            192.168674698795 7.83475783475797;
            192.168674698795 191.595441595442;
            70.7600705547484 171.847603055024;
            129.443055817301 168.734648868329;
            25.01956026761   144.890243978875;
            42.6058125534278 79.1446327727804];

How can I use these as inputs to a Kalman filter and estimate the target using a Kalman filter?

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1 Answer

  1. Editorial Team

    I’d suggest by starting with the relatively straight forward tutorial on Kalman filters: An Introduction to the Kalman Filter. The Kalman Filter site has fair number of good resources, including links to a Matlab toolbox. The Kalman filter implementation is not a very complex program, once you have the equations.

    Here are some links to some Java versions of Kalman filters:

    I’m sure there is source code available for most programming languages. These examples are ones with which I’ve worked.

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