Indoor Dead Reckoning Localization Using Ultrasonic Anemometer with IMU

Table 1

The mean and variance at each corner.

Position (m)	Method	Mean (m)	Variance (m^2)
2, 0	Proposed	2.0759, 0.093	0.0215, 0.0026
	Odometry	2.2639, 0.0594	0.0118, 0.0067
2, 2	Proposed	2.0656, 1.8756	0.0478, 0.1167
	Odometry	2.1404, 2.3096	0.0005, 0.0380
0, 2	Proposed	0.1810, 2.0563	0.0392, 0.0709
	Odometry	−0.1109, 2.1347	0.0124, 0.0041
0, 0	Proposed	0.2885, 0.1130	0.0814, 0.0484
	Odometry	0.2020, −0.0869	0.0110, 0.0006