Improved Pedestrian Positioning with Inertial Sensor Based on Adaptive Gradient Descent and Double-Constrained Extended Kalman Filter

Table 3

Average error of attitude angle in test 1.

Test	Average error of pitch angle (°)		Average error of roll angle (°)		Average error of heading angle (°)
	GDA	AGDA	GDA	AGDA	GDA	AGDA
Person 1	0.7503	0.0597	0.2606	0.0530	0.2511	0.0541
Person 2	0.5698	0.2173	0.7336	0.0733	0.6446	0.1192
Person 3	0.5171	0.0568	0.2932	0.0440	0.3617	0.0390
Person 4	0.6192	0.1787	0.3470	0.0987	0.6470	0.1180