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Table 1 Mean errors [m] of different methods and different initial heading errors

From: Kalman filter with a linear state model for PDR+WLAN positioning and its application to assisting a particle filter

 

Filtered

Smoothed

Linear

 

7.0

4.1

Static

 

9.7

 

Linear Δ t=15 s

 

9.3

5.2

Static Δ t=15 s

 

12.7

 

Traditional models

θ 0

EKF

UKF

EKF

UKF

Estimated footstep length

0°

7.9

6.9

4.6

5.5

Sensor footstep length

0°

7.3

6.3

3.6

4.7

Estimated footstep length

45°

7.4

6.7

4.2

5.3

Sensor footstep length

45°

7.1

6.4

3.9

5.0

Estimated footstep length

90°

10.5

9.8

7.7

7.9

Sensor footstep length

90°

14.7

11.1

10.7

11.0

Estimated footstep length

135°

16.4

20.0

12.8

18.4

Sensor footstep length

135°

17.7

14.7

16.0

16.1

Estimated footstep length

180°

10.1

10.4

7.1

9.2

Sensor footstep length

180°

44.7

37.4

42.8

40.7