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Some of the statistics of the beacon position errors for sparse beacons situation.
| Cost Function Error Terms | Mean Error (m) | Median Error (m) | Maximum Error (m) |
|---|---|---|---|
| PDR + beacon position | 2.68 | 2.65 | 6.39 |
| PDR + beacon position + fingerprint matching | 2.26 | 2.31 | 4.28 |
