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J. Lategahn, M. Müller, and C. Röhrig, “Robust pedestrian localization in indoor environments with an IMU aided TDoA system,” in 2014 international conference on indoor positioning and indoor navigation (IPIN 2014) : Busan, South Korea, 27 - 30 October 2014, Piscataway, NJ: IEEE, 2014, pp. 465–472.