Motion Modes | Positioning Algorithm | AE | RMSE | ME | CEP of 75% | CEP of 95% |
---|---|---|---|---|---|---|
Calling | DR + WiFi | 1.5 | 1.69 | 2.58 | 2.08 | 2.56 |
 | DR + MM | 0.93 | 1.06 | 1.77 | 1.28 | 1.76 |
 | EDTW + REKF | 0.92 | 1.08 | 2.15 | 1.29 | 2.12 |
 | HV-DDTW + CPF | 0.74 | 0.86 | 1.57 | 0.98 | 1.52 |
Dangling | DR + WiFi | 1.01 | 1.1 | 1.77 | 1.34 | 1.72 |
 | DR + MM | 0.84 | 0.99 | 1.71 | 1.38 | 1.72 |
 | EDTW + REKF | 0.67 | 0.79 | 1.44 | 0.99 | 1.42 |
 | HV-DDTW + CPF | 0.54 | 0.67 | 1.35 | 0.79 | 1.32 |
Handheld | DR + WiFi | 0.9 | 1.06 | 1.9 | 1.28 | 1.86 |
 | DR + MM | 0.93 | 1.12 | 2.37 | 1.17 | 2.32 |
 | EDTW + REKF | 0.89 | 1.05 | 2.57 | 1.09 | 2.52 |
 | HV-DDTW + CPF | 0.61 | 0.74 | 1.82 | 0.79 | 1.82 |
Pocketed | DR + WiFi | 2.14 | 2.36 | 3.49 | 2.98 | 3.42 |
 | DR + MM | 1.66 | 1.85 | 3.15 | 2.29 | 3.12 |
 | EDTW + REKF | 1.85 | 2.03 | 3.35 | 2.58 | 3.32 |
 | HV-DDTW + CPF | 1.64 | 1.79 | 2.47 | 2.26 | 2.47 |
General | DR + WiFi | 1.39 | 1.55 | 2.43 | 1.92 | 2.39 |
 | DR + MM | 1.09 | 1.26 | 2.25 | 1.53 | 2.23 |
 | EDTW + REKF | 1.08 | 1.24 | 2.38 | 1.49 | 2.35 |
 | HV-DDTW + CPF | 0.88 | 1.02 | 1.8 | 1.21 | 1.78 |