Using Kalman Filters to Reduce Noise from RFID Location System

Table 5

Oval path results with multiple tags.

	2 tags		3 tags		4 tags
	MSE	MaxSE	MSE	MaxSE	MSE	MaxSE
Raw	0.05064	0.08734	0.05193	0.08841	0.05284	0.0897
KF	0.04492	0.08091	0.04518	0.08173	0.04592	0.08269
EKF	0.04891	0.08602	0.04973	0.08698	0.05046	0.08713
UKF	0.04907	0.08553	0.04985	0.08619	0.05053	0.08697