State dependent measurement equations in local positioning

For target tracking applications it is a well-known technique to model the motion behavior by a finite set of motion models. This contribution discusses two cases in the area of local positioning where the measurement equation is taken from a finite set of possibilities, depending on the actual state of the object. The first case is a multi antenna scenario where it is unknown which antenna actually receives the signal. The second case is a piecewise linear setup utilizing hyperbolic projections. In this approach two different measurement equations in two different coordinates frames are simultaneously valid. The application of the discussed state dependent measurement equations is demonstrated on two real scenarios.