A Dynamic Cooperative Scheme with Multiple Antennas for Indoor Mobile Robot Localization

Table 2

Results of static and dynamic experiment in worst case (𝑇_𝑐=5 ms, noncoherent integration time is 0.5 sec).

Average post-SNR (Th: 17 dB)	Single antenna case				SWC	MRC	EGC	Proposed scheme
	1st antenna; (North)	2nd antenna; (East)	3rd antenna; (South)	4th antenna; (West)
Static experiment (PRN 19)
0.5 λ	×	17.3	17.3	17.7	17.3~17.7	19.5	18.3	19.5
1 λ	17.9	17.8	17.9	18.3	17.8~18.3	20.9	18.6	20.9
2.5 λ	×	×	×	×	×	19.1	18.0	19.1
Dynamic experiment (PRN 19; antenna spacing: 1 λ)
1 rpm	17.7	17.5	17.7	17.9	17.5~17.9	18.8	18.5	18.8
4 rpm	17.7	17.3	17.1	17.0	17.1~17.7	17.5	×	17.5
20 rpm	×	×	17.4	17.1	×	18.7	×	18.7

“×”: unlocked.