Indoor positioning using circle expansion-based adaptive trilateration algorithm

Journal of Electrical Systems and Information Technology

Table 4 MSE values with distances in environment 1

Distance(m)	Test point	Actual coordinates (m)		Error (m)
		M	N	BLE	Wi-Fi	LoRaWAN	ZigBee
1	D1	0.5000	0.0000	0.1321	0.1325	0.3250	0.3390
	D2	0.5000	0.5000	0.0005	0.0005	0.2955	0.3312
	D3	0.6667	0.3333	0.1792	0.9316	0.4535	1.7652
	Average			0.1039	0.3548	0.3580	0.8118
3	D1	1.5000	0.0000	1.4993	2.0832	0.1294	0.8879
	D2	1.5000	1.5000	0.0019	0.0018	0.0011	0.7184
	D3	2.0000	1.0000	0.7056	0.4511	0.7356	0.5024
	Average			0.7356	0.8453	0.2887	0.7029
5	D1	2.5000	0.0000	2.3983	1.3020	1.6235	0.1399
	D2	2.5000	2.5000	0.0024	0.0011	0.3130	0.0018
	D3	3.3333	1.6667	1.0766	0.9561	1.1772	1.3564
	Average			1.1591	0.7530	1.0379	0.4993