UWB/PDR Tightly Coupled Navigation with Robust Extended Kalman Filter for NLOS Environments

Table 1

Normal gait step length calculation (unit: m).

Actual distance	40.5	71.4	43.2	39.5	81.6	211.68	179
Constant model	38.608	73.766	43.348	40.421	81.526	213.771	182.391
Linear model	41.411	71.372	44.799	38.894	82.381	209.381	178.707
Nonlinear model	38.427	73.065	46.227	39.895	81.520	215.612	175.950