Axis-Exchanged Compensation and Gait Parameters Analysis for High Accuracy Indoor Pedestrian Dead Reckoning

Table 5

Error of different navigation.

Number	Walking times/s	Walking distance/m	Walking distance error/%	Navigation error RMS/m	Navigation error RMS/%	Maximum navigation error/m	Maximum navigation error/%
1	74.4	80	0.46	1.95	2.44	2.08	2.60
2	152.0	160	0.55	4.03	2.52	5.66	3.54
3	259.2	240	0.68	6.46	2.69	9.17	3.82
4	368.0	320	0.82	8.99	2.81	13.76	4.30
5	479.0	400	0.89	11.60	2.90	19.00	4.75
6	604.8	480	1.04	14.06	2.93	23.86	4.97
7	716.8	560	1.36	16.63	2.97	28.22	5.04
8	838.4	640	3.91	28.86	4.51	59.65	9.32
9	988.2	720	5.55	35.21	4.89	68.04	9.45
10	1124.0	800	7.88	45.76	5.72	79.60	9.95