Low-Complexity Localization and Tracking in Hybrid Wireless Sensor Networks

Table 2

RMSE (in m) of the velocity-based tracking algorithm.

	802.15.4 only	UWB only	UWB + 802.15.4; (P-mix)	UWB + 802.15.4; (F-mix)
Min-max	0.75	0.80	0.74	0.72
Multilateration	0.80	0.91	0.76	0.75