some fixes/comments to introducton/related-work
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Like mentioned before, most state-of-the-art systems use recursive state estimators like Kalman- and particle filters.
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They differ mainly by the sensors used, their probabilistic models and how the environmental information are incorporated.
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For example \cite{Li2015} recently presented an approach combining methods of pedestrian dead reckoning (PDR), Wi-Fi
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For example \cite{Li2015} recently presented an approach combining methods of pedestrian dead reckoning (PDR), \docWIFI{}
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fingerprinting and magnetic matching using a Kalman filter. While providing good results, fingerprinting methods
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require an extensive offline calibration phase. Therefore, many other systems like \cite{Fang09} or \cite{Ebner-15}
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are using signal strength prediction models like the log-distance model or wall-attenuation-factor model.
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