Table 2.

Final position error comparison in the corridor walking with different walking style.

Experiment Number	Walking Speed (km/h)	Stride Length (m)	Stride Speed (stride/s)	Position Error (Pure INA) (m)	Position Error (Proposed Method) (m)
1	4.14	1.25	0.92	2.04	0.45
2	4.15	1.25	0.92	1.32	0.34
3	4.57	1.25	1.02	2.57	0.52
4	4.59	1.30	0.98	3.21	0.54
5	4.72	1.30	1.01	3.11	0.37
6	5.19	1.50	0.96	2.25	0.43
7	5.43	1.50	1.01	1.67	0.35
8	5.44	1.50	1.01	1.70	0.44
9	5.46	1.50	1.01	2.53	0.52
10	5.53	1.50	1.02	1.22	0.36
11	5.54	1.50	1.03	1.26	0.42
12	5.57	1.50	1.03	2.33	0.37
13	6.06	1.50	1.12	2.58	0.39
14	6.07	1.50	1.12	0.84	0.31
15	6.10	1.50	1.13	1.80	0.51
Mean				2.03	0.42