Comparing Digital Phase-Locked Loop and Kalman Filter for Clock Tracking in Ultrawideband Location System

Algorithm 1

;

;

;

if (OM > threshold) && (counter > 20),

outlier = 1;

measuredError = 0.0;

outlier_counter = outlier_counter + 1;

if outlier_counter > 8,

outlier_counter = 0;

counter = 0;

end

;

EstimatedTime;

else

;

;