An Implementation Approach and Performance Analysis of Image Sensor Based Multilateral Indoor Localization and Navigation System

Table 1

Distance measurement data from an LED at different floor positions.

Horizontal distance, (cm)	Measured direct distance, (cm)	Actual direct distance, (cm)	Error in distance measurement (cm)	Detected area (px)	Radius,   (px)	Radius,   (px)
00	255.5	255.5	0	348	11	11
10	255.88	255.9	0.02	347		10
20	256.65	256.7	0.05	341		10
30	257.6	257.7	0.1	337		10
40	258.85	259	0.15	336		10
50	260	260.2	0.2	330		9
60	262.5	262.8	0.3	324		9
70	264.3	264.7	0.4	314		9
80	267.1	267.7	0.6	306		9
90	269.5	270.61	1.11	298		8
100	272.5	274.5	2	288		8