Real-Time and Accurate Indoor Localization with Fusion Model of Wi-Fi Fingerprint and Motion Particle Filter

Table 3

MSE of orientation and velocity in different window length.

	Window length
	200 ms	400 ms	600 ms	800 ms	1000 ms
MSE of orientation; (degree)	25.0529	27.8570	26.8727	26.5759	26.4503
MSE of velocity; (m/s^2)	0.3001	0.4020	0.4158	0.4642	0.4435