Research Article
Research on Extended Kalman Filter and Particle Filter Combinational Algorithm in UWB and Foot-Mounted IMU Fusion Positioning
Table 2
Ranging results based on a progressive increase of 1.13 m in distance with column blockage.
| Real distance | 3.39 | 4.52 | 5.65 | 6.78 | 7.91 | 9.04 | 10.17 |
| Mean error | 0.62 | 0.88 | 0.94 | 1.10 | 2.24 | 2.89 | 3.45 | Maximum error | 0.80 | 0.91 | 2.01 | 1.84 | 3.32 | 4.04 | 4.59 | Minimum error | 0.56 | 0.68 | 0.31 | 0.86 | 0.99 | 2.13 | 2.60 | Standard deviation | 0.04 | 0.04 | 0.42 | 0.25 | 0.64 | 0.85 | 0.86 |
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