Table 1.

Results of the experimental validation in terms of RMSE. WLS, weighted least squares.

	Smartphone				Smartphone & Smartwatch
	IMU	WLS-Phone	EKF-Phone		WLS-Smart	EKF-Smart
Path 1	$5.4$	$5.6$	$3.7$		$3.9$	$2.4$
Path 2	$5.2$	$5.3$	$4.2$		$4.1$	$3.4$
Path 3	$1.6$	4	$1.8$		$2.5$	$1.4$