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

Table 1

Average RMS error and standard deviation of the particle filter in GPS + WLAN, GPS-only, and WLAN-only configuration and of the extended Kalman filter for Trajectory-1.

	PF, GPS + WLAN	PF, GPS-only	PF, WLAN-only	EKF, GPS + WLAN
RMSE (m)	6.21	37.33	7.80	12.97
Avg. SD (m)	5.81	48.27	6.02	2.35