In-Body Ranging with Ultra-Wideband Signals: Techniques and Modeling of the Ranging Error

Table 5

Ranging RMSE for the three types of NN-based estimator.

Antenna depth (mm)	Ranging RMSE (mm)
	Cascade-MLP (C-MLP)	MLP	Elman
40 mm	1,318	1,597	1,185
42 mm	0,682	0,610	0,757
44 mm	0,895	1,259	0,832
46 mm	0,864	1,912	1,337
48 mm	1,028	1,306	1,538
50 mm	0,805	1,065	0,640
52 mm	0,947	1,124	1,273
54 mm	0,881	0,626	0,568
56 mm	1,438	0,785	0,602
58 mm	0,484	0,792	0,537
60 mm	0,770	1,189	0,986
Average RMSE (mm)	0,955	1,180	0,991
Standard deviation of the RMSE (mm)	0,270	0,405	0,360