This paper presents a robust and accurate positioning system that adapts its to the surrounding environment, mimicking the capability of the visual to filtering out clutter and focusing attention on activity and relevant. Especially in indoor environments, which are characterized by multipath propagation, robust positioning is still hard to achieve under constraint of reasonable infrastructural needs. In such environments it is to separate relevant from irrelevant information and attain an uncertainty model for measurements that are used for positioning.
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Leitinger et al. (2016) studied this question.