Research Article
TDoA-Based Outdoor Positioning with Tracking Algorithm in a Public LoRa Network
Table 7
Performance before and after applying the TIA (tracking improvement algorithm). The brackets () indicate the improvement in %.
| | Scenario | Median error [m] | 90th% error [m] |
| | Walking raw TDoA | 194 | 579 | | Walking TIA (= 5 km/h) | 74 (62%) | 177 (70%) | | Walking TIA ( = ) | 182 (6%) | 407 (30%) | | Cycling raw TDoA | 249 | 490 | | Cycling TIA ( = 25 km/h) | 206 (17%) | 358 (27%) | | Cycling TIA ( = ) | 210 (16%) | 391 (20%) | | Driving raw TDoA | 116 | 324 | | Driving TIA () | 82 (29%) | 285 (12%) |
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