Method for Improving Indoor Positioning Accuracy Using Extended Kalman Filter

Table 3

Distance standard deviation of iBeacon.

Section	BS1	BS2	BS3	BS4	BS5	BS6
1 m-2 m standard deviation	0.02	0.05	0.02	0.1	0.05	−0.05
2 m-3 m standard deviation	0.01	−0.06	0.05	−0.05	0	0.2
3 m–5 m standard deviation	0.12	0.1	0.06	0.04	0.24	−0.07
5 m–10 m standard deviation	0.23	0.36	0.37	0.34	0.01	0.06
Standard deviation	0.09	0.11	0.12	0.11	0.08	0.04
1 m–5 m standard deviation	0.05	0.03	0.04	0.03	0.1	0.03