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

Table 4

Position error results using four different methods.

Method	Distance (m)	End-to-end error (m)	Error (%)
Cascade filter	431.88	1.19	0.27
CF	423.83	1.96	0.46
GDA	424.72	3.48	0.82
EKF	424.19	2.59	0.61