Adaptive Iterated Extended Kalman Filter and Its Application to Autonomous Integrated Navigation for Indoor Robot

Table 1

Comparison of five estimation strategies in terms of position error.

Method	RMSE (m)
	The first trajectory		The second trajectory		Mean
	East	North	East	North
INS only	0.5912	0.4590	0.2108	0.3179	0.3947
WSN	0.1132	0.0787	0.1065	0.0697	0.0920
EKF	0.0721	0.0639	0.0736	0.0582	0.0670
IEKF	0.0433	0.0433	0.0462	0.0360	0.0422
The proposed method	0.0333	0.0290	0.0309	0.0249	0.0295