... Navigation Technology, vol. 5,2nd edn. (IEE Radar, Navigation and Avionics Series, Peter Peregrinus Ltd.,London, 2004)30. N Gordon, D Salmond, A Smith, Novel approach to nonlinear and non-Gaussian ... section, the motivation and related work aredescribed in Section 2.1, followed by a description ofthe overall system architecture (Section 2.2).2.1 Motivation for a motion model based on maps ... as various combinations. In this arti-cle, we will focus on inertial navigation for pedestriansand the application is continuous and online meter-level-accuracy positioning with either foot-mounted...