## 3 Experimental Results and Analysis
### Indoor and Outdoor Loop Datasets
\begin{table}
\begin{tabular}{c c c c c c c} \hline \hline \multicolumn{2}{c}{**Experiment**} & \multicolumn{5}{c}{**Start–End Error (m)**} \\ \hline \hline \multirow{2}{*}{**Type**} & \multirow{2}{*}{**Subject**} & \multicolumn{5}{c}{**Framework**} \\ \cline{3-8}  & & **ZUPT** & **ZUPT–HDR** & **ZUPT–EC** & **ZUPT-MED–EC** & **ZUPT–AFM** \\ \hline \multirow{2}{*}{**Indoor dataset 2 (344 m)**} & 1 & 0.68 & 0.68 & 1.17 & 0.58 & 0.59 \\  & 2 & 0.43 & 0.36 & 1.35 & 0.25 & 0.26 \\ \hline \multirow{2}{*}{**Indoor three-lap walking (486 m)**} & \multirow{2}{*}{1} & \multirow{2}{*}{2.14} & \multirow{2}{*}{2.04} & \multirow{2}{*}{1.11} & \multirow{2}{*}{0.24} & \multirow{2}{*}{0.25} \\  & 2 & 6.42 & 6.78 & 9.41 & 0.84 & 0.82 \\  & 3 & 4.22 & 4.09 & 4.46 & 1.11 & 1.17 \\ \hline \multirow{2}{*}{**Indoor three walking (498 m)**} & \multirow{2}{*}{1} & \multirow{2}{*}{1.75} & \multirow{2}{*}{1.72} & \multirow{2}{*}{8.75} & \multirow{2}{*}{1.86} & \multirow{2}{*}{1.64} \\  & 2 & 2.96 & 2.75 & 3.1 & 2.88 & 2.8 \\  & 3 & 2.49 & 2.41 & 1.69 & 0.77 & 0.67 \\ \hline \multirow{2}{*}{**Outdoor dataset (1233 m)**} & \multirow{2}{*}{1} & \multirow{2}{*}{38.19} & \multirow{2}{*}{37.19} & \multirow{2}{*}{58.64} & \multirow{2}{*}{14.07} & \multirow{2}{*}{9.25} \\  & 1 & 36.18 & 34.49 & 46.9 & 20.54 & 14.94 \\ \cline{1-1}  & 3 & 36.35 & 32.58 & 96.92 & 34.12 & 10.44 \\ \hline \multirow{2}{*}{**Indoor–outdoor dataset**} & \multirow{2}{*}{1} & \multirow{2}{*}{36.92} (2.99\%) & \multirow{2}{*}{34.8 (2.82\%)} & \multirow{2}{*}{70.79} (5.74\%) & \multirow{2}{*}{24.39} (1.98\%) & \multirow{2}{*}{**11.8 (0.96\%)**} \\  & & & & & & \\ \hline \multirow{2}{*}{**Indoor–outdoor dataset**} & \multirow{2}{*}{1} (1919 m) & \multirow{2}{*}{36.44} (1.9\%) & \multirow{2}{*}{21.36} (1.11\%) & \multirow{2}{*}{31.132} (1.62\%) & \multirow{2}{*}{27.05} (1.41\%) & \multirow{2}{*}{**18.02 (0.94\%)**} \\  & 2 (2277 m) & 70.75 (3.11\%) & 27.72 (1.22\%) & 58.05 (2.55\%) & 52.43 (2.3\%) & **14.712 (0.65\%)** \\ \hline \hline \end{tabular}
\end{table} 
Table 6: Performance of the different frameworks on the medium-scale and large-scale datasets. Each bold number refers to the optimal performance in each row. \begin{table}
\begin{tabular}{c c c c c c} \hline \hline
**Performance Metrics** & **ZUPT** & **ZUPT–EC** & **ZUPT–HDR** & **ZUPT-AFM** & **ZUPT–MED–EC** \\ \hline
75\% TITDE (\%) & 0.5687 & 0.6299 & 0.5736 & 0.5695 & **0.5666** \\
100\% TITDE (\%) & 1.0004 & 1.3532 & 1.0091 & 0.9894 & **0.9869** \\ RMSE of TITDE (\%) & 0.4816 & 0.5893 & 0.4887 & **0.4527** & 0.4551 \\ \hline \hline \end{tabular}
\end{table} 
Table 5: Performance of the different frameworks on indoor dataset 1. Each bold number refers to the optimal performance in each row. Figure 10: Estimated trajectories of different frameworks on indoor dataset 2. \begin{table}
\begin{tabular}{c c c c c c} \hline
**Performance Metrics** & **ZUPT** & **ZUPT-EC** & **ZUPT-HDR** & **ZUPT-AFM** & **ZUPT-MED-EC** \\ \hline
75\% TTDE (\%) & 0.6004 & 1.5334 & 0.6042 & **0.5911** & 0.5953 \\
100\% TTDE (\%) & 3.1072 & 7.8605 & 3.0162 & **1.2117** & 2.7672 \\ RMSE of TTDE (\%) & 0.9501 & 1.6997 & 0.8282 & **0.5027** & 0.7071 \\ \hline \end{tabular}
\end{table} 
Table 7: Performance of the different frameworks on all indoor and outdoor loop datasets. Each bold number refers to the optimal performance in each row. Figure 9: Total traveled distance error (TTDE) CDF curves of different frameworks on indoor dataset 1. Figure 11: Estimated trajectories of different frameworks on the indoor free walking sub-dataset. Figure 12: Trajectories estimated by the different algorithms using the indoor three-lap walking sub-dataset. Figure 14: Estimated trajectories of the different frameworks on the indoor–outdoor 1.9 km sub-dataset. Subfigures **A–H** show different environments in this experiment. The red arrows in all subfigures refer to moving directions. The tester started from an indoor point (see subfigure **A**) and walked toward the outdoor space through corridors, a hall (see subfigure **B**), and stairs (see subfigure **C**).