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

Table 2

Localization error (centimeters) for ML-DONL algorithm for different network sizes and orientation error. Node orientations are obtained with an electronic compass.

		ML-DONL ()			ML-DONL ()
		Known orientations			Known orientations
		Mean	Std.	Trim	Mean	Std.	Trim
0.1	3	7.0	6.9	6.4	24.5	18.8	21.1
	4	7.5	10.5	6.4	29.3	21.4	25.6
	5	7.1	8.4	6.2	33.0	22.4	29.1
	6	6.8	6.6	6.0	34.0	22.1	30.3
	7	7.0	7.4	5.9	35.8	23.3	31.7
	8	7.5	10.1	5.8	37.3	23.3	33.3
	9	7.5	11.5	5.6	38.1	23.9	34.0
	10	7.5	11.3	5.5	38.7	24.3	34.5
0.2	3	10.4	8.1	9.4	25.9	17.6	22.8
	4	10.5	10.5	9.5	30.2	20.5	26.7
	5	10.1	8.4	9.1	34.0	22.1	30.0
	6	9.6	6.6	8.7	34.9	21.7	31.2
	7	9.6	7.2	8.6	36.5	22.8	32.4
	8	9.8	10.0	8.1	37.8	23.1	33.9
	9	9.9	11.2	8.0	38.7	23.7	34.6
	10	9.5	11.2	7.7	39.1	23.9	34.9
0.3	3	14.1	8.5	13.0	28.3	17.3	25.5
	4	14.1	11.5	12.8	32.3	20.4	28.9
	5	13.3	8.9	12.3	35.8	21.5	32.1
	6	12.6	6.8	11.7	36.5	21.6	32.9
	7	12.5	7.3	11.4	37.8	22.7	33.7
	8	12.5	10.1	10.8	38.9	22.9	35.0
	9	12.2	11.2	10.4	39.7	23.3	35.6
	10	11.9	11.1	10.1	40.1	23.6	36.1