Table 3: Error statistics for the outdoor case with the ANN trained with set A and with set B.

Test routes Route 1Route 2Route 3Route 4Route 5

Network trained with training Set A

Mean error 10.038.0911.415.763.86
RMS error14.1710.1113.268.295.15
std10.016.076.765.973.41

Network trained with training Set B

Mean error 6.666.705.404.261.77
RMS error10.549.497.626.582.52
std8.176.725.245.011.79