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