. Author manuscript; available in PMC: 2019 Oct 30.

Published in final edited form as: IEEE Syst Man Cybern Mag. 2016 Aug 24;2(2):33–42. doi: 10.1109/MSMC.2015.2501167

Table I.

Performance of the PGO method in various environments

Group I	FPE [%]		ER [%]	Group II	FPE [%]		ER [%]
Group I	DR	PGO	ER [%]	Group II	DR	PGO	ER [%]
1	4.45	2.65	1.80	1	3.01	1.15	1.86
2	2.97	2.37	0.60	2	3.58	2.50	1.08
3	2.71	3.07	−0.36	3	2.42	2.23	0.19
4	2.66	2.50	0.16	4	4.17	2.75	1.43
5	1.2	1.33	−0.13	5	2.21	1.64	0.57
6	2.03	2.28	−0.25
7	2.05	0.46	1.59
8	5.7	4.71	0.99
9	3.3	3.79	−0.49
Mean			0.43	Mean			1.02
Standard Deviation			0.86	Standard Deviation			0.67

DR: Dead Reckoning, ER: Error Reduction, FPE: Final Position Error