TABLE 1

Performance Comparison Results for ZSM vs Conventional SM on a Simulation Experiment With two Buildings Seen in Figure 6(a) and Nine GPS Satellites seen in Figure 5(b).

Algorithm		Error w.r.t true location (m) [Cross-street, Along-street]	Bound (m) [Cross-street, Along-street]	Avg. computation load across 100 runs (s)
Algorithm		Error w.r.t true location (m) [Cross-street, Along-street]	Bound (m) [Cross-street, Along-street]	Offline	Online
Proposed ZSM		[3.46, 16.05]	[17.87, 50.11]	1.7e-4	0.39
Conventional SM with grid sizes	5 m	[3.00, 5.00]	[59.58, 447.48]	1524.41	1.66
		[2.00, 0.00]
		[3.00, 0.00]
	10 m	[3.00, 0.00]	[66.72, 455.82]	405.33	0.08
		[7.00, 0.00]
		[3.00, 10.00]
	15 m	[3.00, 0.00]	[73.54, 463.10]	296.32	0.04
		[3.00, 15.00]
		[3.00, 30.00]