关键词：移动环境；位置移动元素；应用评估基础设施；非结构化
摘 要：For many research problems, controlling and estimating the position of the mobile elementswithin an environment is desired. Realistic mobile environments are unstructured, but sharea set of common features, such as position, speed, and constraints on mobility. To estimate within these real-world environments requires careful selection of the best-suited estimation tools and software and hardware technologies. This dissertation discusses the design and implementation of applied estimation infrastructures which overcome the challenges of realworld deployments.