Skip to main content

Table 2 Position errors for APF, WiMag, 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 APF 3.74 5.18 12.71 5.13 11.17
  WiMag 1.46 1.61 2.97 1.86 2.93
  HV-DDTW + CPF 1.15 1.37 2.91 1.63 2.87
Dangling APF 5.16 6.34 13.58 8.93 10.77
  WiMag 1.47 1.63 3.07 1.86 3.03
  HV-DDTW + CPF 1.14 1.32 2.69 1.48 2.57
Handheld APF 1.37 1.79 5.62 2.13 3.17
  WiMag 1.33 1.51 3.72 1.61 2.97
  HV-DDTW + CPF 1.04 1.27 3.25 1.53 2.77
Pocketed APF 4.35 5.49 12.09 5.43 11.87
  WiMag 1.34 1.46 3.07 1.61 2.37
  HV-DDTW + CPF 1.06 1.24 2.62 1.36 2.37
General APF 3.66 4.41 11 5.41 9.25
  WiMag 1.4 1.51 3.21 1.74 2.83
  HV-DDTW + CPF 1.1 1.26 2.88 1.5 2.65