  The problem of indoor navigation of mobile objects, using a map and
measurements of distances to the walls is considered. A nonlinear filtering
problem aimed at calculating the optimal, in the root-mean-square sense, of the
sought parameters is formulated in the context of the Bayesian approach. The
algorithm for its solution based on the point-mass method is described. The
simulation results illustrating the advantages of the proposed problem
statement and the resultant algorithm are discussed.
