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Journal of Sensors
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2021
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Article
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Tab 3
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Research Article
An Indoor Localization Method Based on the Combination of Indoor Map Information and Inertial Navigation with Cascade Filter
Table 3
Comparison of position errors.
Distance (m)
End-to-end error (m)
ZUPT-aided INS
Cascade filter
215.94
3.91
0.66
431.88
1.19
0.59
647.82
6.19
0.62
867.76
7.01
0.27
Average error
4.57
0.53