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. 2021 Apr 19;21(8):2857. doi: 10.3390/s21082857

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© 2021 by the authors.

Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).

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The mean localization error as a function of time or the travelled distance. The decrease of error can be described by an exponential model $e = 0.35 e x p (- 0.04$ t $) + 0.98 e x p (- 0.0006$ t) with the coefficient of determination $R^{2} = 0.8$ .