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FrankE
2016-02-22 22:44:40 +01:00
parent 44504f0a59
commit 8889c4cf83
3 changed files with 107 additions and 68 deletions
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26
tex/chapters/experiments.tex
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@@ -38,9 +38,12 @@
As uncertainties we used $\sigma_\text{wifi} = \sigma_\text{ib} = 8.0$, both growing with each measurement's age.
While the pressure change was assumed to be \SI{0.105}{$\frac{\text{\hpa}}{\text{\meter}}$}, all other barometer-parameters
are determined automatically (see \ref{sec:sensBaro}). The step size for the transition was configured to be \SI{70}{\centimeter}
with an allowed derivation of \SI{10}{\percent}. The heading deviation in
are determined automatically (see \ref{sec:sensBaro}). The step size $\mStepSize$ for the transition was configured to be
\SI{70}{\centimeter} with an allowed derivation of \SI{10}{\percent}. The heading deviation in
\refeq{eq:transSimple}, \refeq{eq:transShortestPath} and \refeq{eq:transMultiPath} was \SI{25}{\degree}.
Edges departing from the pedestrian's destination are downvoted using $\mUsePath = 0.9$.
\commentByFrank{$\mUsePath$ erklaert}
As we start with a discrete uniform distribution for $\mStateVec_0$ (random position and heading), the first few estimations
are omitted from the error calculation to allow the system to somewhat settle its initial state. Even though, the error
@@ -71,9 +74,11 @@
\begin{figure}
\input{gfx/eval/error_timed_nexus}
\caption{Development of the error while walking along Path 4 using the Motorola Nexus 6.
When leaving the suggested route (3), the error of shortest path \refeq{eq:transShortestPath}
and multipath \refeq{eq:transMultiPath} increases.
The same issues arise when facing multimodalities between two staircases just before the destination (9).}
When leaving the suggested route (3), the error of \textbf{shortest} path \refeq{eq:transShortestPath}
and \textbf{multi}path \refeq{eq:transMultiPath} increases.
The same issues arise when facing multimodalities between two staircases just before the destination (9).
\commentByFrank{hilft das bold vlt. schon um die legende zu verstehen?}
}
\label{fig:errorTimedNexus}
\end{figure}
% detailed analysis of path 4
@@ -133,8 +138,9 @@
% overall error-distribution for nexus and galaxy
\begin{figure}
\input{gfx/eval/error_dist_nexus}
\caption{Error distribution for all walks conducted with the Motorola Nexus 6. Our proposed methods
clearly provide an enhancement for the overall localization process.}
\caption{Error distribution of all walks conducted with the Motorola Nexus 6 for distinct percentile values.
Our proposed methods clearly provide an enhancement for the overall localization process.
\commentByFrank{percentile erwaehnt}}
\label{fig:errorDistNexus}
\end{figure}
%\begin{figure}
@@ -143,9 +149,11 @@
%\end{figure}
The median error values for all other paths and the other smartphone are listed in table
\ref{tbl:errNexus} and \ref{tbl:errGalaxy}. As can be seen, adding prior knowledge
is able to improve the localisation for all examined situations, even when
\ref{tbl:errNexus} and \ref{tbl:errGalaxy}. Furthermore, fig. \ref{fig:errorDistNexus}
depicts the error development for several percentile values. As can be seen, adding prior
knowledge is able to improve the localisation for all examined situations, even when
leaving the suggested path or when facing bad/slow sensor readings.
\commentByFrank{fig. \ref{fig:errorDistNexus} erwaehnt}
% error values
\begin{table}