Table 2.

Results of the experimental validation in terms of the 90 percentile.

	Smartphone				Smartphone & Smartwatch
	IMU	WLS-Phone	EKF-Phone		WLS-Smart	EKF-Smart
Path 1	$12.8$	11	$7.8$		$8.5$	$4.4$
Path 2	$7.9$	10	$7.3$		8	$6.3$
Path 3	3	$5.6$	$3.1$		5	$2.9$