TDoA-Based Outdoor Positioning with Tracking Algorithm in a Public LoRa Network

Table 6

Errors for different spreading factor and trajectories.

	Median error [m]				90th percentile error [m]				Std. deviation [m]
	Walking	Cycling	Driving	All Traj.	Walking	Cycling	Driving	All Traj.	Walking	Cycling	Driving	All Traj.
SF7	221	191	108	193	504	460	328	470	164	168	112	163
SF8	194	249	116	207	579	490	324	503	216	323	119	270
SF9	203	257	192	230	383	552	410	515	127	198	130	171
SF10	229	173	233	215	437	425	482	430	134	142	146	138
SF11	213	226	239	226	413	419	623	435	172	442	201	303
SF12	162	169	109	164	318	538	195	420	120	168	50	144
All	207	221	145	211	470	489	400	484	175	264	145	219