Kalman Filter-Based Hybrid Indoor Position Estimation Technique in Bluetooth Networks

Table 2

Simulation studies: mean error (ME)/standard deviation (St. D.) analysis of trilateration, K-NN, MinMax, and proposed hybrid technique (sample size 100).

Actual position (𝑥,𝑦)	Trilateration (m)	MinMax (m)	K-NN (m)	Hybrid approach (m)
Anchors 3 (ME)	5.29	2.46	1.9	1.38
Anchors 4 (ME)	4.14	2.13	2.2	1.55
Anchors 3 (StD)	3.83	1.57	1.48	1.13
Anchors 4 (StD)	3.85	1.93	1.4	0.98