UWB Localization System for Indoor Applications: Concept, Realization and Analysis

Table 1

Average 3D error and comutation times of various algorithms.

Algorithm	Average computation time [ms]	3D positioning error mean/median [m]
Bancroft	0.580	0.406/0.312
Gauss-Newton	31.85	0.386/0.276
Levenberg-Marquardt	15.41	0.386/0.276
Trust region reflective	40.96	0.386/0.276
Interior point	98.10	0.311/0.251