A Survey on Wireless Transmitter Localization Using Signal Strength Measurements

Table 1

Tx localization RMSEs with real BLE data.

Algorithm	RMSE w/o prior (m)	RMSE with prior (m)
Centroid	9.8
Robust centroid	8.9
Weighted centroid (dist.)	4.5
Weighted centroid (RSS)	5.4
Linear least squares	25.1
Gauss–Newton	3.4	2.9
Importance sampling	9.8	3.4
RSS gradient	14.2
Point-wise fit (regular grid)	4.8	3.2
Point-wise fit (meas. pos.)	2.8	2.7