30. xDRの誤差指標︓EAG
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xDRによる誤差蓄積スピードに関する
補正点からの時間-誤差空間で求め
た勾配の指標
誤差蓄積勾配EAG
(Error Accumulation Gradient)
と命名
[1] Abe, M., Kaji, K., Hiroi, K., Kawaguchi, N. PIEM: Path
Independent Evaluation Metric for Relative Localization, in
Proceedings of the Seventh International Conference on
Indoor Positioning and Indoor Navigation (IPIN2016), 2016.
[2] Ichikari, R.; Kaji, K.; Shimomura, R.; Kourogi, M.; Okuma,
T.; Kurata, T. Off-Site Indoor Localization Competitions Based
on Measured Data in a Warehouse. Sensors 2019, Vol.19,
Issue 4, No. 763 (2019).
31. BUP (BLE Unreachable Period)による誤差蓄積の評価
• xDRによる誤差累積を評価するために,BLE信号を部分的に意
図的に削除
BLE unreachable period (BUP):センサデータからBLE受信情報のみを消した区間
• 正解値情報をBUPの開始・終了の両時点で提供
• BLEを別の絶対測位⼿段で読み替えれば汎⽤性のある評価法に
BUPBUP BUPRSSI
of BLE tag.
t
BUP外は,BLE情報を含んだ統合測位による誤差絶対量を評価
BUPの導⼊によりBLEへの依存傾向等がわかる
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32. ToC of ISO/IEC 18305: 2016
8. LTS performance metrics
2 Floor detection probability 3 Zone detection probability
4 Means of various errors 5 Covariance matrix of the error vector
6 Variances of magnitudes of various errors 7 RMS values of various errors
8 Absolute mean of the error vector
9 Circular Error 95% (CE95) and Circular Error Probable (CEP) [Horizontal error]
10 Vertical Error 95% (VE95) and Vertical Error Probable (VEP) [Vertical error]
11 Spherical Error 95% (SE95) and Spherical Error Probable (SEP) [Error in 3D]
12 Coverage
13 Relative accuracy [distance between two ELTs (Entity to be Localized/Tracked)]
14 Latency
15 Set-up time
16 Optional performance metrics 16.1 Location-specific accuracy 16.2 Availability
9. Optional performance metrics for LTS use in mission critical
applications
2 Susceptibility 3 Resilience
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