Robust Heading Estimation for Indoor Pedestrian Navigation Using Unconstrained Smartphones

Table 1

Confusion table of the proposed motion states detection and discrimination algorithm.

	Hand movement	Position transition	User turn	Normal walking
Hand movement	0.952	0	0.018	0.03
Position transition	0.007	0.988	0.005	0
User turn	0	0.011	0.989	0
Normal walking	0.005	0	0	0.995