Research Article
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 |
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