Positioning performance results
| Data | Algorithm | Avg HPE [m] | Std [m] | Max [m] |
|---|---|---|---|---|
| G | Ba | 4.32 | 3.85 | 21.14 |
| FDE+B | 2.96 | 1.41 | 19.26 | |
| SFC+B map+ 1m | 3.03 | 2.02 | 16.89 | |
| SFC+B | 2.91 | 1.80 | 15.83 | |
| FDE+SFC+B map+ 1m | 2.62 | 1.12 | 9.42 | |
| FDE+SFC+B | 2.63 | 1.19 | 9.44 | |
| G+W Gaussian | B | 0.25 | 0.17 | 1.74 |
| SFC+B map+lm | 0.24 | 0.14 | 0.91 | |
| SFC+B | 0.27 | 0.15 | 1.52 | |
| FDE+SFC+B map+ 1m | 0.25 | 0.16 | 1.18 | |
| FDE+SFC+B | 0.28 | 0.17 | 1.60 | |
| G+W GMM | B | 0.26 | 0.28 | 4.31 |
| FDE+B | 0.31 | 0.44 | 5.46 | |
| SFC+B map+ 1m | 0.24 | 0.20 | 3.43 | |
| SFC+B | 0.26 | 0.26 | 4.68 | |
| FDE+SFC+B map+ 1m | 0.29 | 0.35 | 5.33 | |
| FDE+SFC+B | 0.31 | 0.42 | 5.99 |
↵a BRAIM (B).