High-Accuracy Tracking Using Ultrawideband Signals for Enhanced Safety of Cyclists
Table 2
Localization error (RMS) averaged over different tag positions.
Loc. technique
Anchors config.
error [m]
error [m]
error [m]
Global error [m]
TWR
All anchors
0.26
0.06
0.20
0.15
TWR
Lower circle
0.44
0.07
1.15
0.83
TWR
Upper circle
0.13
0.11
2.55
0.74
TWR
Mixed
0.06
0.03
0.31
0.18
TDOA
All anchors
0.10
0.07
0.37
0.20
TDOA
Lower circle
1.41
1.22
7.49
4.34
TDOA
Upper circle
0.20
0.19
6.23
3.13
TDOA
Mixed
1.97
2.23
5.44
3.18
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