Table 3 Effects of the number of largest elements from the output location vector (κ) and the scaling factor for a threshold (σ) on the Performance of multi-building and multi-floor indoor localization
κ | σ | Building hit rate [%] | Floor hit rate [%] | Success rate [%] | Positioning error [m] | |
|---|---|---|---|---|---|---|
Centroid | Weighted centroid | |||||
1 | N/A ∗ | 99.82 | 91.90 | 91.81 | 11.40 | 11.40 |
2 | 0.0 | 99.37 | 92.44 | 91.81 | 10.62 | 10.54 |
0.1 | 100.00 | 91.81 | 91.81 | 10.40 | 10.33 | |
0.2 | 99.82 | 92.62 | 92.44 | 9.74 | 9.66 | |
0.3 | 99.64 | 91.99 | 91.81 | 9.78 | 9.71 | |
0.4 | 99.73 | 91.54 | 91.45 | 10.29 | 10.21 | |
0.5 | 100.00 | 90.01 | 90.01 | 10.16 | 10.09 | |
3 | 0.0 | 99.73 | 91.54 | 91.36 | 10.14 | 9.79 |
0.1 | 99.91 | 90.91 | 90.82 | 9.92 | 9.76 | |
0.2 | 98.83 | 90.91 | 90.28 | 9.98 | 9.80 | |
0.3 | 99.55 | 92.08 | 91.90 | 10.13 | 10.01 | |
0.4 | 99.91 | 91.99 | 91.99 | 10.63 | 10.47 | |
0.5 | 99.82 | 90.37 | 90.37 | 9.94 | 9.89 | |
4 | 0.0 | 99.82 | 90.91 | 90.91 | 10.27 | 9.66 |
0.1 | 99.37 | 91.99 | 91.63 | 10.37 | 9.92 | |
0.2 | 99.64 | 92.08 | 91.90 | 10.26 | 10.09 | |
0.3 | 99.82 | 91.45 | 91.36 | 10.24 | 10.16 | |
0.4 | 99.91 | 92.26 | 92.17 | 10.35 | 10.23 | |
0.5 | 99.82 | 91.27 | 91.18 | 10.10 | 10.07 | |
5 | 0.0 | 99.91 | 91.36 | 91.27 | 11.29 | 10.36 |
0.1 | 99.91 | 91.63 | 91.63 | 9.90 | 9.62 | |
0.2 | 99.91 | 90.73 | 90.73 | 9.89 | 9.57 | |
0.3 | 99.82 | 90.91 | 90.82 | 10.27 | 9.99 | |
0.4 | 99.73 | 92.17 | 92.08 | 10.17 | 10.01 | |
0.5 | 99.82 | 92.98 | 92.89 | 10.59 | 10.54 | |
6 | 0.0 | 99.82 | 91.90 | 91.72 | 10.84 | 9.71 |
0.1 | 99.64 | 92.08 | 91.81 | 10.35 | 9.86 | |
0.2 | 100.00 | 91.99 | 91.99 | 9.85 | 9.56 | |
0.3 | 99.82 | 92.80 | 92.80 | 10.49 | 10.22 | |
0.4 | 99.37 | 91.09 | 91.00 | 10.32 | 10.17 | |
0.5 | 99.64 | 90.91 | 90.64 | 9.55 | 9.52 | |
7 | 0.0 | 99.82 | 89.29 | 89.29 | 11.74 | 10.22 |
0.1 | 99.82 | 90.19 | 90.01 | 10.43 | 9.82 | |
0.2 | 99.91 | 91.45 | 91.45 | 10.00 | 9.55 | |
0.3 | 99.91 | 91.63 | 91.54 | 9.75 | 9.53 | |
0.4 | 99.64 | 90.46 | 90.19 | 10.42 | 10.28 | |
0.5 | 99.55 | 91.45 | 91.36 | 9.83 | 9.73 | |
8 | 0.0 | 99.91 | 90.19 | 90.10 | 11.32 | 9.27 |
0.1 | 100.00 | 91.27 | 91.27 | 10.62 | 10.14 | |
0.2 | 99.82 | 91.27 | 91.18 | 9.76 | 9.29 | |
0.3 | 99.82 | 90.55 | 90.37 | 9.95 | 9.82 | |
0.4 | 99.91 | 90.37 | 90.28 | 10.21 | 10.14 | |
0.5 | 99.91 | 90.55 | 90.55 | 9.86 | 9.79 | |
9 | 0.0 | 99.82 | 91.00 | 90.91 | 12.75 | 9.76 |
0.1 | 99.82 | 90.28 | 90.19 | 10.17 | 9.55 | |
0.2 | 99.82 | 90.73 | 90.64 | 10.05 | 9.76 | |
0.3 | 99.82 | 91.45 | 91.36 | 10.36 | 10.23 | |
0.4 | 100.00 | 91.81 | 91.81 | 9.86 | 9.78 | |
0.5 | 99.91 | 92.80 | 92.71 | 10.26 | 10.23 | |
10 | 0.0 | 99.91 | 90.91 | 90.82 | 13.21 | 9.75 |
0.1 | 99.82 | 92.71 | 92.62 | 10.37 | 9.85 | |
0.2 | 99.91 | 91.72 | 91.72 | 10.33 | 10.04 | |
0.3 | 100.00 | 90.82 | 90.82 | 10.47 | 10.24 | |
0.4 | 100.00 | 91.09 | 91.09 | 10.10 | 9.96 | |
0.5 | 100.00 | 91.90 | 91.90 | 9.96 | 9.91 | |