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

Table 5

Error comparison and analysis based on the five algorithms.

	Route 1			Route 2
	Mean error	Maximum error	Minimum error	Mean error	Maximum error	Minimum error
ZuptImu	0.987	3.405	0.012	0.789	2.825	0.006
OptUwb	0.596	2.011	0.003	0.751	6.678	0.001
PfUwb	0.624	2.067	0.009	0.527	1.499	0.003
PfImuUwb	0.637	2.087	0.001	0.531	1.462	0.001
PfEkfImuUwb	0.685	2.576	0.003	0.505	1.356	0.009