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

Table 6

Error comparison and analysis based on the three approaches.

	Route 1			Route 2
	Mean error	Maximum error	Minimum error	Mean error	Maximum error	Minimum error
PfUwb	0.696	2.981	0.001	0.587	2.299	0.017
PfImuUwb	0.735	2.896	0.003	0.571	1.816	0.007
PfEkfImuUwb	0.624	2.576	0.003	0.527	1.524	0.008