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Table 8 Root mean square error of system, building as reference

From: Fusing passive RFID and BIM for increased accuracy in indoor localization

Intersection approach Distance equation approach
Total X Y Radial Total X Y Radial
Test 1 1.27 0.97 1.60 Test 1 1.08 1.31 1.69
Test 2 0.98 1.11 1.48 Test 2 1.17 0.89 1.47
Test 3 1.53 1.11 1.89 Test 3 1.43 1.22 1.88
Test 4 1.11 1.12 1.57 Test 4 1.38 1.21 1.84
Test 5 0.91 1.40 1.67 Test 5 1.54 0.92 1.79
Test 6 1.17 1.20 1.69 Test 6 1.63 1.44 2.17
Average 1.23 1.48 1.92 Average 1.37 1.16 1.81
Turning X Y Radial Turning X Y Radial
Test 1 1.55 1.30 2.02 Test 1 1.07 1.68 1.99
Test 2 1.56 1.12 1.92 Test 2 1.48 1.10 1.84
Test 3 0.83 1.22 1.47 Test 3 0.99 0.83 1.29
Test 4 1.68 1.42 2.20 Test 4 2.15 1.11 2.42
Test 5 1.92 1.15 2.24 Test 5 3.01 0.60 3.07
Test 6 1.58 0.80 1.77 Test 6 2.69 0.69 2.78
Average 1.52 1.17 1.94 Average 1.90 1.00 2.23
Straight X Y Radial Straight X Y Radial
Test 1 1.18 1.50 1.91 Test 1 1.08 1.25 1.65
Test 2 1.22 0.95 1.55 Test 2 1.12 0.86 1.41
Test 3 1.00 1.09 1.48 Test 3 1.49 1.27 1.96
Test 4 1.51 1.08 1.86 Test 4 1.29 1.22 1.78
Test 5 1.01 1.11 1.50 Test 5 1.35 0.94 1.64
Test 6 0.78 1.46 1.66 Test 6 1.43 1.51 2.08
Average 1.12 1.20 1.66 Average 1.29 1.18 1.75