Integrated SINS/WSN Positioning System for Indoor Mobile Target Using Novel Asynchronous Data Fusion Method

Table 1

Performance comparison for different fusion algorithms based on the integrated positioning system.

Item		UKF-syn	UKF-asyn	Proposed
Position error range (m)	X	−0.9918~0.5301	−0.6213~0.5452	−0.4224~0.3368
	Y	−0.1534~1.3289	−0.3394~1.0541	−0.1422~0.5413
	Z	−2.3391~0.0261	−1.1257~−0.0797	−0.4686~0.1257
Variance of error	X	0.2409	0.1353	0.0592
	Y	0.2122	0.1888	0.0465
	Z	0.6061	0.1738	0.0696
Maximum (m)		2.4019	1.3630	0.5854
Average (m)		1.1099	0.7003	0.2777