An Indoor Localization Method Based on the Combination of Indoor Map Information and Inertial Navigation with Cascade Filter

Table 2

Comparison of position errors.

Velocity (m/s)	Movement	End-to-end error (m)
		ZUPT-aided INS	Cascade filter
1.1	Walk	3.91	0.66
2.1	Jogging	2.53	0.45
3.1	Run	6.99	0.51
Average error		4.47	0.54