Particle-Filter-Based WiFi-Aided Reduced Inertial Sensors Navigation System for Indoor and GPS-Denied Environments

Table 2

RMSE and maximum position errors of all systems combinations.

	RISS	WiFi K-NN positioning		WiFi/RISS With FOS-reduced map
		Using full 67 × 132 radio map	Using 67 × 4 radio map optimized and reduced by FOS	Adaptive fast mixture PF
RMSE	4.4743 m	3.4 m	3.01 m	1.6 m
MAX_POS_ERROR	10.1719 m	4.2422 m	3.2422 m	2.9681 m