Table 3.

The mean and standard deviation of east and north positioning error (unit: m).

Test Scenario	RFID-Based Preliminary Positioning				IMM-Based Fusion Positioning
	East Errors		North Errors		East Errors		North Errors
	Mean	STD	Mean	STD	Mean	STD	Mean	STD
Whole Test (1–81 s)	1.39	0.86	4.18	4.75	1.31	0.29	1.63	0.56
In tunnel test (6–74 s)	1.21	0.84	2.35	2.32	1.20	0.38	1.50	0.47