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Table 1 Performance measures on fixed transmitter positioning for the different filtering techniques (VPS-NF, no filtering; HPE, 75%-quantile HPE as threshold; good p., only positions from good performing receiver clusters; bad p., removing positions from bad performing clusters) and for YAPS positioning

From: Acoustic positioning in a reflective environment: going beyond point-by-point algorithms

 VPS-NFHPEGood p.Bad p.YAPS
Fixed transmitters
% positions kept100777679131
% positions on land17818182
N positions on land159,41257,610125,045126,57227,238
Min error (m)00000
Mean error (m)2.61.91.11.30.8
Median error (m)1.10.90.80.80.4
95%-quantile error (m)8.45.52.833
99%-quantile error (m)32.421.54.15.76.6
Max error (m)254.2167.8141.821918.6
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