What is AEKF (Adaptive extended Kalman filter)?

 It is the algorithm utilized to localize in an indoor environment a mobile robot equipped with eight Polaroid sonars. The system state equation and sonar measurement models utilized for locating the mobile robot are set up. The localization procedure is based on the AEKF algorithm. Four criteria utilized to judge the validity of predictive measurements of sonars are presented, which can extend the probability of the matching between predictive measurements and actual measurements.