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Table 1 Position errors for DR + WiFi, DR + MM, EDTW + REKF, and HV-DDTW + CPF (m)

From: An indoor fusion navigation algorithm using HV-derivative dynamic time warping and the chicken particle filter

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