diff --git a/Modules/IGT/IGTFilters/mitkNavigationDataEvaluationFilter.cpp b/Modules/IGT/IGTFilters/mitkNavigationDataEvaluationFilter.cpp
index 35a91ed396..10fc62d6a7 100644
--- a/Modules/IGT/IGTFilters/mitkNavigationDataEvaluationFilter.cpp
+++ b/Modules/IGT/IGTFilters/mitkNavigationDataEvaluationFilter.cpp
@@ -1,65 +1,89 @@
 /*=========================================================================
 
 Program:   Medical Imaging & Interaction Toolkit
 Language:  C++
 Date:      $Date$
 Version:   $Revision: 16011 $
 
 Copyright (c) German Cancer Research Center, Division of Medical and
 Biological Informatics. All rights reserved.
 See MITKCopyright.txt or http://www.mitk.org/copyright.html for details.
 
 This software is distributed WITHOUT ANY WARRANTY; without even
 the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
 PURPOSE.  See the above copyright notices for more information.
 
 =========================================================================*/
 
 #include "mitkNavigationDataEvaluationFilter.h"
 
 
 mitk::NavigationDataEvaluationFilter::NavigationDataEvaluationFilter()
 : mitk::NavigationDataToNavigationDataFilter()
 {
 
 }
 
 
 mitk::NavigationDataEvaluationFilter::~NavigationDataEvaluationFilter()
 {
 
 }
 
 void mitk::NavigationDataEvaluationFilter::GenerateData()
 {
 
     this->CreateOutputsForAllInputs(); // make sure that we have the same number of outputs as inputs
+    this->CreateMembersForAllInputs();
 
     /* update outputs with tracking data from tools */
     for (unsigned int i = 0; i < this->GetNumberOfOutputs() ; ++i)
     {
+      //first copy outputs to inputs
       mitk::NavigationData* output = this->GetOutput(i);
       assert(output);
       const mitk::NavigationData* input = this->GetInput(i);
       assert(input);
-
-      if (input->IsDataValid() == false)
-      {
-        output->SetDataValid(false);
-        continue;
-      }
-
-      
-
-      output->Graft(input);
-
-
+      if (input->IsDataValid() == false) {output->SetDataValid(false);}
+      else {output->Graft(input);}
+
+      //then save statistics
+      if(input->IsDataValid())
+        {
+        m_LoggedPositions[i].push_back(input->GetPosition());
+        m_LoggedQuaternions[i].push_back(input->GetOrientation());
+        }
+      else 
+        {
+        m_InavildSamples[i]++;
+        }
     }
   
+}
+void mitk::NavigationDataEvaluationFilter::CreateMembersForAllInputs()
+{
+  while(this->m_LoggedPositions.size() < this->GetNumberOfInputs())
+    {
+    std::pair<int,std::vector<mitk::Point3D>> newElement(m_LoggedPositions.size(),std::vector<mitk::Point3D>());
+    m_LoggedPositions.insert(newElement);
+    }
+  while(this->m_LoggedQuaternions.size() < this->GetNumberOfInputs())
+    {
+    std::pair<int,std::vector<mitk::Quaternion>> newElement(m_LoggedQuaternions.size(),std::vector<mitk::Quaternion>());
+    m_LoggedQuaternions.insert(newElement);
+    }
+  while(this->m_InavildSamples.size() < this->GetNumberOfInputs())
+    {
+    std::pair<int,int> newElement(m_LoggedQuaternions.size(),0);
+    m_InavildSamples.insert(newElement);
+    }
+
+  
 }
 
 void mitk::NavigationDataEvaluationFilter::ResetStatistic()
 {
-m_SumPositions.Fill(0);
-m_NumberAnalysedNavigationDatas = 0;
+for (int i = 0; i < m_LoggedPositions.size(); i++) m_LoggedPositions[i] = std::vector<mitk::Point3D>();
+for (int i = 0; i < m_LoggedQuaternions.size(); i++) m_LoggedQuaternions[i] = std::vector<mitk::Quaternion>();
+for (int i = 0; i < m_InavildSamples.size(); i++) m_InavildSamples[i] = 0;
 }
diff --git a/Modules/IGT/IGTFilters/mitkNavigationDataEvaluationFilter.h b/Modules/IGT/IGTFilters/mitkNavigationDataEvaluationFilter.h
index e4fe27fa03..15aa169d17 100644
--- a/Modules/IGT/IGTFilters/mitkNavigationDataEvaluationFilter.h
+++ b/Modules/IGT/IGTFilters/mitkNavigationDataEvaluationFilter.h
@@ -1,69 +1,93 @@
 /*=========================================================================
 
 Program:   Medical Imaging & Interaction Toolkit
 Language:  C++
 Date:      $Date$
 Version:   $Revision: 16011 $
 
 Copyright (c) German Cancer Research Center, Division of Medical and
 Biological Informatics. All rights reserved.
 See MITKCopyright.txt or http://www.mitk.org/copyright.html for details.
 
 This software is distributed WITHOUT ANY WARRANTY; without even
 the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
 PURPOSE.  See the above copyright notices for more information.
 
 =========================================================================*/
 
 
 #ifndef MITKNavigationDataEvaluationFilter_H_HEADER_INCLUDED_
 #define MITKNavigationDataEvaluationFilter_H_HEADER_INCLUDED_
 
 #include <mitkNavigationDataToNavigationDataFilter.h>
 
 #include <itkQuaternionRigidTransform.h>
 #include <itkTransform.h>
 
 
 namespace mitk {
 
   /**Documentation
   * \brief NavigationDataEvaluationFilter calculates statistical data (mean value, mean error, etc.) on the input navigation data.
   * Input navigation data are set 1:1 on output navigation data.
   *
   * \ingroup IGT
   */
   class MitkIGT_EXPORT NavigationDataEvaluationFilter : public NavigationDataToNavigationDataFilter
   {
 
   public:
 
     mitkClassMacro(NavigationDataEvaluationFilter, NavigationDataToNavigationDataFilter);
     itkNewMacro(Self);
 
     /** @brief Resets all statistics and starts again. */
     void ResetStatistic();
 
-    /** @brief Resets the number of analysed navigation datas. */
-    itkGetMacro(NumberAnalysedNavigationDatas,int);
-
+    /** @return returns the number of analysed navigation datas for the specified input. */
+    int GetNumberOfAnalysedNavigationData(int input);
+
+
+    double GetPositionMean(int input);
+    double GetPositionStandardDerivation(int input);
+
+    double GetQuaternionMean(int input);
+    double GetQuaternionStandardDerivation(int input);
+    
+
+    /** @return Returns the mean distance to the mean postion. */
+    double GetPositionErrorMean(int input);
+    double GetPositionErrorStandardDerication(int input);
+    double GetPositionErrorRMS(int input);
+    double GetPositionErrorMedian(int input);
+    
+    double GetQuaternionErrorMean(int input);
+    double GetQuaternionErrorStandardDerication(int input);
+    double GetQuaternionErrorRMS(int input);
+    double GetQuaternionErrorMedian(int input);
+    
+    
   
   protected:
 
     NavigationDataEvaluationFilter();
     virtual ~NavigationDataEvaluationFilter();
 
     /**Documentation
     * \brief filter execute method
     *
     * transforms navigation data
     */
     virtual void GenerateData();
 
-    mitk::Point3D m_SumPositions; //todo: make a map here, to have one sum for every navigation data
-    int m_NumberAnalysedNavigationDatas;
+    /** @brief Creates the member variables which store all the statistical data for every input. */
+    void CreateMembersForAllInputs();
 
+    
+    std::map<int,std::vector<mitk::Point3D>> m_LoggedPositions; //a map here, to have one list for every navigation data
+    std::map<int,std::vector<mitk::Quaternion>> m_LoggedQuaternions;
+    std::map<int,int> m_InavildSamples;
   };
 } // namespace mitk
 
 #endif /* MITKNavigationDataEvaluationFilter_H_HEADER_INCLUDED_ */
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