Research on Extended Kalman Filter and Particle Filter Combinational Algorithm in UWB and Foot-Mounted IMU Fusion Positioning

Table 1

Ranging errors in LOS condition based on a progressive increase of 0.8 m in distance.

Real distance	1.6	2.4	3.2	4.0	4.8	5.6	6.4	7.2	8.0
Mean error	0.37	0.42	0.46	0.45	0.46	0.51	0.50	0.50	0.56
Maximum error	0.42	0.47	0.51	0.49	0.50	0.60	0.55	0.55	0.60
Minimum error	0.33	0.36	0.43	0.42	0.42	0.48	0.44	0.45	0.51
Standard deviation	0.021	0.020	0.015	0.017	0.018	0.023	0.020	0.021	0.024