Low-Complexity Localization and Tracking in Hybrid Wireless Sensor Networks

Table 3

Comparison of the RMSE (in meters) obtained using our novel technique or a Kalman filter.

	802.15.4 only	UWB only	UWB + 802.15.4; (P-mix)	UWB + 802.15.4; (F-mix)
Velocity-based	0.75	0.81	0.74	0.72
Kalman	0.62	0.87	0.57	0.58