A Fusion Localization Algorithm with Adaptive Kalman Gain for Port Container Seamless Positioning

Table 2

Influence of the placement position of UWB-1 base station on positioning accuracy.

UWB base station layout location	(50, − 50)	(− 10, − 30)	(− 50, − 38)	(− 30, − 10)	(− 2, 50)	(− 46, − 6)
GDOP	4.2093	5.3410	6.2627	7.7835	8.4010	9.4292
Positioning average error	3.3166	3.7079	4.1243	4.8522	5.3422	5.6621