Research Article
Research on Extended Kalman Filter and Particle Filter Combinational Algorithm in UWB and Foot-Mounted IMU Fusion Positioning
Table 4
Statistics of range differences in four beacons before and after the filtering.
| ā | The original UWB data | The filtered UWB data | Mean difference | Maximum difference | Minimum difference | Difference variance | Mean difference | Maximum difference | Minimum difference | Difference variance |
| Range 1 | 0.17 | 1.67 | 0 | 0.15 | 0.16 | 1.21 | 0.008 | 0.12 | Range 2 | 0.17 | 1.71 | 0 | 0.20 | 0.16 | 1.21 | 0.0006 | 0.16 | Range 3 | 0.17 | 1.05 | 0 | 0.16 | 0.16 | 0.69 | 0.0008 | 0.12 | Range 4 | 0.17 | 0.93 | 0 | 0.15 | 0.16 | 0.70 | 0.001 | 0.12 |
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