Data fusion system

This figure represents a data fusion system used for pedestrian indoor localisation. It is from a scientific paper published in IEEE Sensors 2023 with the following DOI https://doi.org/10.1109/JSEN.2022.3222639.

On the left part, the primary and secondary stages of fusion, that leverage the inertial data (IMU) and the building’s map, are detailed in a bloc scheme. On the right is one of the contribution of this paper: the human motion likelihood representation in the form of a grid. The grid allows to assign a weight to each particle the system uses. Such system is called a Particle Filter.

For usage and reproduction, this figure falls under the IEEE Sensors 2023 copyright. It requires proper citation of the provided paper via its DOI.

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\documentclass[tikz,border=10pt]{standalone}
\usetikzlibrary{positioning, calc}
\begin{document}
  \begin{tikzpicture}[
    dot/.style = {circle, minimum size= 8,fill,inner sep=0pt, outer sep=0pt},
    dot/.default = 5pt
  ]
  % Drawing the likelihood grid
  % Horizontal cells count
    \def\lowbound{0}
    \def\highbound{9}
    \begin{scope}[shift={(0,0.5)}, scale=0.7]
      \tikzstyle{cell} = [rectangle, minimum size = 19.5 , fill, color = black]
      \draw [black, step = 1] (\lowbound, 1) grid (\highbound+1, 10);
      \begin{scope}[shift = {(0.5,0.5)}, opacity = 0.7]
        \foreach \x in {\lowbound,1,...,\highbound}{
         \node [cell, black] at  (\x, 9) {};
         \node [cell, black] at  (\x, 1) {};
        } % black cells = walls
        \foreach \x in {\lowbound, 1,..., \highbound}{
         \node [cell, color = blue!100!white] at  (\x, 8) {};
         \node [cell, color = blue!100!white] at  (\x, 2) {};
        } % deep blue cells
        \foreach \x in {\lowbound,1,...,\highbound}{
         \node [cell, color = blue!75!white] at  (\x, 7) {};
         \node [cell, color = blue!75!white] at  (\x, 3) {};
        }         
        \foreach \x in {\lowbound,1,...,\highbound}{
         \node [cell, color = blue!30!white] at  (\x, 6){};
         \node [cell, color = blue!30!white] at  (\x, 4){};
        }        
        \foreach \x in {\lowbound,1,...,\highbound}{
         \node [cell, color = blue!20!white] at  (\x, 5){};
        }
      \end{scope}
      % Adding particles with random numbers drawn from a python script
      % Yes, LaTeX/Tikz allow to draw random numbers but these come from an experiment
      \begin{scope}
        \coordinate [dot] (a) at (3.9285231, 2.6985591);
 
 
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