Indoor Self-Localization and Orientation Estimation of Smartphones Using Acoustic Signals

Table 1

Localization error (centimeters) for different algorithms and network sizes without prior orientation knowledge. DoA estimates with uncertainty have a range of 180° instead of 360°.

		Crocco et al. [22]			Jacob et al. [19]			Proposed
		Without			Without uncertainty			With uncertainty
		Mean	Std.	Trim	Mean	Std.	Trim	Mean	Std.	Trim
0.1	3	9.6	6.5	8.5	30.3	163.0	11.1	8.3	8.0	7.4
	4	12.6	8.7	11.1	18.4	46.3	11.8	8.8	11.5	7.4
	5	12.5	8.7	10.8	15.6	16.8	12.1	8.1	8.1	7.2
	6	11.3	7.4	9.8	15.0	14.1	12.0	8.0	9.3	6.8
	7	10.1	6.7	8.9	14.9	15.4	11.8	8.9	11.7	6.9
	8	9.1	5.6	8.1	15.7	20.8	11.6	9.3	14.3	6.7
	9	8.7	5.5	7.8	16.4	22.0	11.6	10.0	15.7	6.7
	10	8.1	4.1	7.3	16.1	22.5	11.2	10.9	16.6	6.9
0.2	3	17.5	10.6	15.9	31.5	145.2	12.9	11.6	8.8	10.5
	4	21.7	12.2	19.7	19.8	46.3	13.2	11.7	11.1	10.4
	5	23.2	13.0	20.8	16.4	16.8	12.8	10.9	7.9	10.0
	6	22.2	12.1	20.1	15.5	14.2	12.8	10.7	9.4	9.5
	7	20.9	11.9	18.7	15.6	15.5	12.5	11.4	11.6	9.4
	8	20.8	12.5	18.2	16.3	20.4	12.0	11.4	14.2	8.9
	9	19.3	11.5	17.1	17.0	20.9	12.2	11.7	15.6	8.9
	10	18.3	11.3	16.0	16.8	22.5	11.7	12.9	16.8	8.9
0.3	3	22.9	13.2	21.1	34.7	167.8	15.8	15.4	9.9	14.0
	4	28.7	15.0	26.5	21.8	52.9	14.5	14.8	9.8	13.6
	5	30.9	15.4	28.9	18.1	17.4	14.1	14.0	8.4	13.0
	6	31.6	16.1	29.1	16.7	15.4	13.5	13.6	8.8	12.3
	7	32.5	17.4	29.5	17.1	17.4	13.2	14.1	11.1	12.2
	8	32.7	17.3	30.0	17.1	19.6	12.7	14.0	13.8	11.6
	9	29.6	14.6	27.1	17.6	20.1	12.8	13.8	14.8	11.1
	10	30.6	17.2	27.4	17.5	21.4	12.5	15.0	15.8	11.3

orientations are not considered.