Table 3.

The mean positioning error for each path, positioning method (least-squares (LS), Probabilistic Positioning (PP) and Particle Filter (PF)) and smartphone (Pixel 2 XL (P2), Pixel 3a (P3)). The mean position error is listed for RSSI, FTM and FTM with distance correction (FTM′) and its standard deviation $\sigma$, respectively. All values in meter.

		Path 1						Path 2						Path 3
		RSSI	${\mathit{\sigma }}_{\mathbf{rssi}}$	FTM	${\mathit{\sigma }}_{\mathbf{ftm}}$	FTM′	${\mathit{\sigma }}_{{\mathbf{ftm}}^{\prime }}$	RSSI	${\mathit{\sigma }}_{\mathbf{rssi}}$	FTM	${\mathit{\sigma }}_{\mathbf{ftm}}$	FTM′	${\mathit{\sigma }}_{{\mathbf{ftm}}^{\prime }}$	RSSI	${\mathit{\sigma }}_{\mathbf{rssi}}$	FTM	${\mathit{\sigma }}_{\mathbf{ftm}}$	FTM′	${\mathit{\sigma }}_{{\mathbf{ftm}}^{\prime }}$
LS	P2	$6.41$	$7.47$	$9.81$	$7.51$	$4.78$	$6.88$	5.13	$3.26$	$7.94$	$3.66$	$3.77$	$2.65$	$5.41$	3.34	$10.10$	$5.25$	$4.23$	$2.72$
	P3	$5.79$	$3.82$	$12.48$	$4.26$	$4.41$	$3.03$	5.47	$3.28$	$11.19$	$4.36$	$4.62$	$2.79$	$5.49$	3.11	$13.02$	$5.73$	$5.25$	$3.44$
PP	P2	$6.38$	$7.49$	$9.80$	$7.48$	$4.83$	$6.90$	4.98	$3.09$	$7.88$	$3.73$	$3.84$	$2.70$	$5.27$	3.96	$9.70$	$5.23$	$4.31$	$2.93$
	P3	$5.40$	$3.59$	$11.83$	$4.46$	$4.21$	$3.15$	5.19	$3.20$	$10.81$	$4.25$	$4.53$	$2.88$	$4.91$	2.89	$12.49$	$5.72$	$5.14$	$3.49$
PF	P2	$4.68$	$2.94$	$7.66$	$3.34$	$3.26$	$2.10$	4.47	$2.87$	$6.62$	$3.11$	$3.52$	$2.54$	$4.45$	2.45	$8.40$	$4.43$	$3.67$	$2.00$
	P3	$4.88$	$3.43$	$10.91$	$4.23$	$3.84$	$2.70$	4.51	$2.94$	$8.90$	$4.04$	$3.97$	$2.38$	$4.33$	2.46	$11.48$	$4.91$	$4.35$	$2.76$