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

Table 1

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)	3.32	2.93	2.46	1.99
Anchors 4 (ME)	3.02	2.58	1.92	1.44
Anchors 3 (St. D.)	1.79	1.74	1.53	1.53
Anchors 4 (St. D.)	1.91	1.86	1.22	1.22