Terrain navigation in the magnetic landscape: Particle filtering for indoor positioning

Indoor positioning on a LG Nexus 5 smartphone using the magnetic field in the building.
Supplementary material for the paper:
Arno Solin, Simo Särkkä, Juho Kannala, and Esa Rahtu (2016). "Terrain navigation in the magnetic landscape: Particle filtering for indoor positioning". Proceedings of the European Navigation Conference.