A.3. Synthetic Localization Error Tables 109Online and Offline LEs in m for Noise: = 4 dBm(forward+ backward)PathHMM/off HMM HMM/avg LMSE PF/off PF PF/avgeg-room-change1.78 2.30 2.04 4.88 2.43 2.93 2.40eg-room-change-r1.75 2.38 2.13 5.07 2.60 3.07 2.62og1-classic1.11 1.79 1.58 3.65 2.26 2.76 2.36og1-classic-r1.07 1.52 1.25 3.54 1.95 2.16 1.73og1-eg1.49 2.31 2.08 4.98 3.29 3.72 3.36og1-eg-rog1-eg-rightog1-eg-right-rog1-long-rooms1.70 2.56 2.38 5.03 2.79 3.37 3.091.44 2.17 1.97 5.34 3.08 3.54 3.251.59 2.36 2.11 5.43 2.98 3.39 3.051.86 2.50 2.31 6.19 3.12 3.68 3.25og1-long-rooms-r1.80 2.56 2.36 5.91 3.01 3.66 3.32og1-long-straight1.29 2.06 1.89 4.29 2.13 2.60 2.30og1-long-straight-r1.47 2.08 1.85 4.10 2.16 2.62 2.26og1-room-change1.60 2.06 1.82 3.63 2.51 2.73 2.35og1-room-change-r1.67 2.04 1.86 3.58 2.39 2.75 2.33stairs-upwardstairs-upward-r1.17 1.80 1.58 5.92 2.62 2.96 2.561.22 2.81 2.63 6.03 2.76 3.21 2.95Mean in m 1.50 2.21 1.99 4.85 2.63 3.07 2.70Stdev in m 0.25 0.32 0.34 0.91 0.39 0.44 0.47Online and Offline LEs in m for Noise: = 8 dBm(forward+ backward)PathHMM/off HMM HMM/avg LMSE PF/off PF PF/avgeg-room-change1.78 2.30 2.04 4.88 2.43 2.93 2.40eg-room-change-r1.75 2.38 2.13 5.07 2.60 3.07 2.62og1-classic1.11 1.79 1.58 3.65 2.26 2.76 2.36og1-classic-r1.07 1.52 1.25 3.54 1.95 2.16 1.73og1-eg1.49 2.31 2.08 4.98 3.29 3.72 3.36og1-eg-rog1-eg-rightog1-eg-right-rog1-long-rooms1.70 2.56 2.38 5.03 2.79 3.37 3.091.44 2.17 1.97 5.34 3.08 3.54 3.251.59 2.36 2.11 5.43 2.98 3.39 3.051.86 2.50 2.31 6.19 3.12 3.68 3.25og1-long-rooms-r1.80 2.56 2.36 5.91 3.01 3.66 3.32og1-long-straight1.29 2.06 1.89 4.29 2.13 2.60 2.30og1-long-straight-r1.47 2.08 1.85 4.10 2.16 2.62 2.26og1-room-change1.60 2.06 1.82 3.63 2.51 2.73 2.35og1-room-change-r1.67 2.04 1.86 3.58 2.39 2.75 2.33stairs-upwardstairs-upward-r1.17 1.80 1.58 5.92 2.62 2.96 2.561.22 2.81 2.63 6.03 2.76 3.21 2.95Mean in m 1.50 2.21 1.99 4.85 2.63 3.07 2.70Stdev in m 0.25 0.32 0.34 0.91 0.39 0.44 0.47