Table 4.

The average location error of the measurements taken at each position. The ex, ey and ez values are respectively the errors in the x-axis, y-axis and z-axis obtained by subtracting the estimated coordinates of the node with the true coordinates for each position. The global location error is calculated from these errors as the root mean square error (RMSE) for the measurements taken at each position. The last row in the table shows the average absolute error from all measurements taken at the different positions for each height.

	Height1 (108 mm)				Height2 (628mm)
Pos	ex (mm)	ey (mm)	ez (mm)	RMSE (mm)	ex (mm)	ey (mm)	ez (mm)	RMSE (mm)
1	-1.2	-1.3	0.5	2.9	−5.3	9.8	5.0	12.4
2	0.5	−4.1	−0.8	4.9	14.7	−1.3	1.1	14.9
3	9.4	−5.2	0.0	10.9	−7.7	−2.5	−4.0	9.2
4	5.0	−4.2	0.6	7.0	−11.1	2.8	−3.7	12.2
5	−1.2	0.8	−0.5	2.4	0.1	10.5	1.3	10.8
6	3.4	−11.4	−2.1	12.2	2.3	3.4	0.4	4.4
7	3.1	5.3	−0.4	6.4	6.1	−6.2	2.9	9.4
8	−7.0	9.7	−3.6	12.7	−1.6	3.0	0.7	4.1
9	−8.3	−3.4	1.0	9.4	−4.0	−7.3	−0.4	8.6
10	0.2	−1.7	−0.3	2.6	−6.1	−3.7	−3.6	8.3
11	−9.7	0.1	1.8	10.1	9.3	−1.1	−1.0	9.7
12	4.4	6.1	3.1	8.5	7.1	2.4	0.5	7.8
13	8.8	−2.1	4.7	10.5	7.3	5.2	−0.3	9.1
14	8.5	−6.8	5.3	12.3	5.6	9.9	−1.4	11.6
15	−2.1	−3.9	2.2	5.4	1.1	0.2	−4.0	4.6
16	−15.9	−6.1	−0.8	17.2	−7.6	10.8	−0.2	13.3
17	−0.0	−7.9	−2.6	8.7	−7.7	1.2	−2.4	8.4
ALL	5.4	4.8	1.8	9.3	6.3	4.9	2.0	9.8