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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