Aiming at the shortcoming of particle dry in traditional particle filter, an improved cost reference particle filter (CRPF) was proposed.

针对传统粒子滤波算法中粒子枯竭的缺陷，提出了一种改进的代价参考粒子滤波(CRPF)方法。

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"Our biggest challenges were developing an algorithm which optimally combines the data from GPS and the other sensors, and overcoming the issues of using such low-cost sensors in a system without any absolute location reference, " said Smithson.

ENGADGET: Cambridge Consultants develops indoor tech to pick up where GPS drops off

The study is available online at no cost and with the help of the Internet, it has provided a basic reference for congressional and federal hearings and has helped create curriculum for graduate programs, Carpenter said.

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