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