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EURASIP Journal on Advances in Signal Processing

Table 1 Mean RMSE of position and velocity versus Monte Carlo sample size L in the MSPGS

From: NLOS mitigation in indoor localization by marginalized Monte Carlo Gaussian smoothing

Smoother

RMSE position

RMSE velocity

SQKS-K (known noise)

0.0653

0.0362

MSPGS L=1000

0.1017

0.0421

MSPGS L=500

0.1020

0.0421

MSPGS L=100

0.1033

0.0421

MSPGS L=50

0.1033

0.0421

SQKS-P

0.1338

0.0452

SQKS-G

0.4202

0.0617

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