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

Table 2

Abnormal gait step length calculation (unit: m).

Actual distance	55.2	52.5	40.5	40.8	31.8	39.5	81.6
Constant model	46.183	52.621	36.437	40.631	35.907	51.297	73.788
Linear model	46.865	54. 992	36.072	42.554	38.021	46.854	76.173
Nonlinear model	46.377	54.656	37.393	40.131	37.717	46.490	76.270