Abstract and Applied Analysis / 2013 / Article / Tab 2

Research Article

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

Table 2

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

Average post-SNR (Th: 17 dB)Single antenna case SWC MRC EGC Proposed scheme
1st antenna
2nd antenna
3rd antenna
4th antenna

Static experiment (PRN 19)
0.5 λ×17.317.317.717.3~17.719.518.319.5
1 λ17.917.817.918.317.8~18.320.918.620.9
2.5 λ×××××

Dynamic experiment (PRN 19; antenna spacing: 1 λ)
1 rpm17.717.517.717.917.5~17.918.818.518.8
4 rpm17.717.317.117.017.1~17.717.5×17.5
20 rpm××17.417.1×18.7×18.7

“×”: unlocked.

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