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

Table 3

Ranging results based on a progressive increase of 0.8 m in distance with pedestrian blockage.

Real distance	1.6	2.4	3.2	4.0	4.8	5.6	6.4	7.2	8.0	8.8
Mean error	0.69	0.80	0.66	0.47	0.53	0.67	0.64	0.96	0.64	0.52
Maximum error	1.14	1.06	1.08	1.09	1.35	7.78	7.29	5.47	1.86	1.12
Minimum error	0.28	0.18	0.18	0.18	0.07	0.09	0.14	0.20	0.14	0.08
Standard deviation	0.27	0.16	0.22	0.15	0.28	0.79	0.70	1.19	0.34	0.25