SHAKF-PU: Sage–Husa Adaptive Kalman Filtering-Based Pedestrian Characteristic Parameter Update Mechanism for Enhancing Step Length Estimation in Pedestrian Dead Reckoning

Table 1

Cumulative distance errors in five 20-times tests.

	AKF	AVG (5)	CKF	Linear
1st	49.52312	49.97666	56.33625	69.66213
2st	44.38289	48.17956	60.03855	55.87052
3st	49.17905	50.18651	59.16382	54.69721
4st	46.21081	49.91435	50.06121	60.90114
5st	46.82417	48.89955	52.34962	60.08161
Average	47.22401	49.43133	55.58989	60.24252