A Modified Kalman Filter for Hybrid Positioning

This paper presents a new hybrid positioning algorithm whereby restrictive information such as base station sector and maximum range can be used in a Kalman-type filter. This new algorithm is fast to compute and gives almost the same accuracy as the particle filter with millions of particles. Simulations show that in some cases restrictive information such as mobile phone network sector and maximum range information dramatically improve filter accuracy. We also present the mathematical fundamentals of the algorithm.