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Table 2 Performance comparisons of various positioning error (m) measures

From: WiFi/PDR-integrated indoor localization using unconstrained smartphones

Compared approach Proposed UKF UKF (empirical) EKF (empirical) KF (empirical) PDR WiFi localization
Mean error 0.76 1.01 1.09 1.19 1.83 2.26
75 percentile 1.02 1.30 1.47 1.61 2.65 3.20
90 percentile 1.46 1.88 2.26 2.39 3.81 4.44