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

Table 3

Positioning error analysis of Route 1 and Route 2.

	UWB	PDR	EKF	REKF
Route 1 (RMSE/m)	0.92	2.34	0.78	0.35
Route 2 (RMSE/m)	1.44	3.26	1.04	0.45