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 2
Sum, average, and standard deviation (SD) of distance errors in 20–400 times.
| Experiments | AKF | AVG (5) | CKF | Linear |
| 20 | Sum | 46.6 | 55.5 | 57.3 | 62.5 | Average | 2.33 | 2.78 | 2.86 | 3.13 | SD | 1.9 | 1.77 | 2.23 | 2.41 |
| 40 | Sum | 89.3 | 96.2 | 96.5 | 124 | Average | 2.23 | 2.41 | 2.41 | 3.09 | SD | 1.64 | 1.59 | 1.9 | 2.33 |
| 100 | Sum | 220 | 239 | 280 | 285 | Average | 2.20 | 2.39 | 2.8 | 2.85 | SD | 1.50 | 1.73 | 1.97 | 2.49 |
| 200 | Sum | 436 | 456 | 502 | 555 | Average | 2.18 | 2.28 | 2.51 | 2.78 | SD | 1.17 | 1.62 | 1.92 | 2.47 |
| 400 | Sum | 863 | 919 | 998 | 1,148 | Average | 2.16 | 2.3 | 2.5 | 2.88 | SD | 1.15 | 1.6 | 1.95 | 2.38 |
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