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