Position Estimation and Error Correction of Mobile Robots Based on UWB and Multisensors

Table 1

Measured distance results of UWB indoors and outdoors.

Num	Actual distance (m)	Measured distance indoor (m)	Measured distance outdoor (m)
1	1.00	0.62	0.83
2	2.00	1.68	1.87
3	3.00	2.71	2.87
4	4.00	3.71	3.89
5	5.00	4.75	4.90
6	6.00	5.83	5.90
7	7.00	6.75	6.90
8	8.00	7.83	7.92
9	9.00	8.85	8.94
10	10.00	9.77	9.95
11	11.00	10.8	10.97
12	12.00	11.85	11.97
13	13.00	12.91	13.00
14	14.00	13.89	13.98
15	15.00	14.88	15.00
16	16.00	15.96	16.01
17	17.00	16.94	17.01
18	18.00	17.94	18.03
19	19.00	18.92	19.02
20	20.00	19.94	20.04