Ubiquitous and Seamless Localization: Fusing GNSS Pseudoranges and WLAN Signal Strengths

Figure 8

Position estimates of the GPS-only solution, the GPS receiver, and the least squares solution. The black (GPS rcv.) and the teal trajectory (PF, GPS-only) were obtained from the same experimental run. The grey trajectory (GPS rcv.) was recorded during a different experiment along the same path, though, without the stops.