Integrated Navigation Fusion Strategy of INS/UWB for Indoor Carrier Attitude Angle and Position Synchronous Tracking

Table 2

Performance comparison between FAKF and KF.

	KF	FAKF
Velocity error range in 𝑥 (m/s)	−0.08~0.05	−0.03~0.02
Velocity error range in 𝑦 (m/s)	−0.12~0.12	−0.07~0.07
Velocity variance in 𝑥	3.3×10^−3	8.3×10^−4
Velocity variance in𝑦	3.1×10^−3	6.1×10^−4
Position error range in 𝑥 (m)	−0.85~0.5	−0.1~0.3
Position error range in 𝑦 (m)	−0.06~0.19	−0.07~0.05
Position variance in 𝑥	0.0974	0.0048
Position variance in 𝑦	3.5×10^−3	3.8×10^−4