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

Table 2

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-2.

	PF, GPS + WLAN	PF, GPS-only	PF, WLAN-only	EKF, GPS + WLAN
RMSE (m)	6.68	7.88	13.36	6.49
Avg. SD (m)	2.70	2.99	4.81	1.04