Application of Adaptive Extended Kalman Smoothing on INS/WSN Integration System for Mobile Robot Indoors

Table 1

The position errors of the trajectories.

	The first trajectory		The second trajectory
	Mean east position error (m)	Mean north position error (m)	Mean east position error (m)	Mean north position error (m)
INS-only	0.2308	0.1412	0.1270	0.2418
LS	0.0961	0.0616	0.0808	0.0557
AEKF	0.0401	0.0276	0.0340	0.0310
off-line AEKS	0.0362	0.0239	0.0273	0.0241
Average AEKF	0.0389	0.0264	0.0294	0.0253
The proposed method	0.0370	0.0262	0.0253	0.0218