RMSE Values of Computed Heading in [°]
The RMSE per trajectory was computed by using the deviations of all phones and one trajectory, and the RMSE per phone was computed by using the deviations of all trajectories and one phone. The bold RMSE numbers were computed from the deviations over all phones and trajectories.
| Samsung Galaxy S7 | LGE Nexus 5X | Google Pixel 5 | RMSE per trajectory | |
|---|---|---|---|---|
| Madgwick | ||||
| trj-1 | 68.5 | 86.5 | 43.6 | 67.5 |
| trj-2 | 64.6 | 45.9 | 85.9 | 67.7 |
| trj-3 | 20.1 | 15.7 | 10.9 | 15.7 |
| trj-4 | 38.5 | 47.7 | 58.2 | 49.9 |
| RMSE per phone | 64.5 | 67.2 | 65.6 | 65.8 (overall RMSE) |
| Magyq | ||||
| trj-1 | 70.6 | 52.5 | 22.8 | 50.5 |
| trj-2 | 9.2 | 25.8 | 13.4 | 17.8 |
| trj-3 | 7.5 | 2.7 | 4.4 | 5.3 |
| trj-4 | 9.4 | 5.5 | 16.8 | 12.0 |
| RMSE per phone | 47.5 | 39.8 | 18.4 | 36.5 (overall RMSE) |
| Han | ||||
| trj-1 | 16.1 | 11.0 | 14.3 | 13.8 |
| trj-2 | 25.0 | 32.2 | 52.5 | 38.8 |
| trj-3 | 20.1 | 15.2 | 30.4 | 23.8 |
| trj-4 | 19.4 | 33.4 | 42.1 | 34.1 |
| RMSE per phone | 21.1 | 24.4 | 37.7 | 29.2 (overall RMSE) |
| Proposed OEA | ||||
| trj-1 | 7.8 | 25.7 | 19.8 | 19.6 |
| trj-2 | 25.0 | 9.4 | 10.2 | 16.2 |
| trj-3 | 6.7 | 6.8 | 3.6 | 5.7 |
| trj-4 | 7.8 | 5.8 | 10.7 | 8.5 |
| RMSE per phone | 18.3 | 18.7 | 15.4 | 17.4 (overall RMSE) |