Table 7.

Comparison of reference position with EPBCM, PDR, and BLE-beacon-based localization algorithms.

Reference Position	${\mathit{X}}_{\mathit{True}}$ Meters	${\mathit{Y}}_{\mathit{True}}$ Meters	${\mathit{X}}_{\mathit{EPBCM}}$ Meters	${\mathit{Y}}_{\mathit{EPBCM}}$ Meters	${\mathit{X}}_{\mathit{BLE}-\mathit{beacon}}$ Meters	${\mathit{Y}}_{\mathit{BLE}-\mathit{beacon}}$ Meters	${\mathit{X}}_{\mathit{PDR}}$ Meters	${\mathit{Y}}_{\mathit{PDR}}$ Meters
Elevator Area	6	1.2	6.06	1.26	6.13	1.27	6.07	1.39
Conference Room	3	1.9	3.11	1.89	3.08	1.98	3.1	2.04
Stairs Area	10	2.4	10.32	2.36	10.7	2.47	11.3	2.54
Mobile Computing Lab	1	1	1.01	1.005	0.99	1.01	1.03	1.04
Networking Lab	15	3.74	15.65	3.66	15.09	3.33	16.2	3.64
Rest Area	20	5.32	20.11	5.4	21.4	5.53	21.89	5.62