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(a) A small section of walk 3. Optimizing the system with a global Wi-Fi optimization scheme (blue) causes a big jump and thus high errors. This happens due to highly attenuated Wi-Fi signals and inappropriate Wi-Fi parameters. We compare this to a system optimized for each floor individually (orange), resolving the situation a producing reasonable results; (b) Error development over time for this section. The high error can be seen at 190 .
