Radiofrequency based virtual motion model for localization using particle filter

A non-transitory computer-readable medium embodying a set of computer-executable instructions, which, when executed in connection with a system comprising a central processing unit, a localization signal receiver and a memory, cause the system to perform a method comprising, iteratively:

• receiving at least one localization signal using the localization signal receiver;
• determining a round trip time for the at least one localization signal;
• determining at least one velocity parameter of a user's motion state based on the determined round trip time and a preceding round trip time of a preceding iteration;
• executing a particle filter loop based at least on the received localization signal and the determined at least one velocity parameter of the user's motion, the particle filter loop comprises performing a measurement update using at least the determined round trip time and calculating a distance between each of a plurality of particles and at least one radiofrequency beacon based on the received radiofrequency localization signal, performing a motion update using at least the at least one velocity parameter, and resampling a plurality of particles;
• and
• determining a position of the user based at least on the execution of the particle filter loop, wherein determining the position of the user comprises continuously executing the particle filter loop in parallel with determining the at least one velocity parameter.

A system comprising a central processing unit, a localization signal receiver and a memory, the memory storing a set of computer-readable instructions causing the system to perform a method comprising, iteratively:

• receiving at least one localization signal using the localization signal receiver;
• determining a round trip time for the at least one localization signal;
• determining at least one velocity parameter of a user's motion state based on the determined round trip time and a preceding round trip time of a preceding iteration;
• executing a particle filter loop based at least on the received localization signal and the determined at least one velocity parameter of the user's motion, the particle filter loop comprises performing a measurement update using at least the determined round trip time and calculating a distance between each of a plurality of particles and at least one radiofrequency beacon based on the received radiofrequency localization signal, performing a motion update using at least the at least one velocity parameter, and resampling a plurality of particles;
• and
• determining a position of the user based at least on the execution of the particle filter loop, wherein determining the position of the user comprises continuously executing the particle filter loop in parallel with determining the at least one velocity parameter.