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

Table 2

The velocity errors of the trajectories.

	The first trajectory		The second trajectory
	Mean east velocity error (m/s)	Mean north velocity error (m/s)	Mean east velocity error (m/s)	Mean north velocity error (m/s)
INS-only	0.0868	0.0847	0.0768	0.0788
LS	0.0368	0.0627	0.0470	0.0541
AEKF	0.0329	0.0436	0.0382	0.0391
off-line AEKS	0.0308	0.0371	0.0275	0.0297
Average AEKF	0.0320	0.0438	0.0421	0.0407
The proposed method	0.0273	0.0361	0.0274	0.0267