Table 1 Mean and maximum values of tracking errors obtained by the LS and EKF algorithms with simulations and measurements
From: Evaluation of range-based indoor tracking algorithms by merging simulation and measurements
Ranging slot size | |||||||
|---|---|---|---|---|---|---|---|
14.28 ms | 28.56 ms | 42.84 ms | 57.12 ms | 71.4 ms | 85.68 ms | ||
Mean tracking error [cm] | LS true | 8.7 | 11.1 | 13.9 | 18.3 | 21.6 | 25.4 |
LS sim | 171.6 | 172.8 | 169.1 | 153.8 | 176.2 | 178.0 | |
EKF true | 8.1 | 12.6 | 15.7 | 20.3 | 24.0 | 26.7 | |
EKF sim | 85.3 | 91.2 | 88.3 | 85.1 | 95.5 | 98.7 | |
Max tracking error [cm] | LS true | 39.9 | 39.4 | 44.6 | 52.5 | 59.4 | 76.7 |
LS sim | 1164.6 | 942.1 | 964.5 | 810.0 | 863.1 | 896 | |
EKF true | 28.7 | 37.1 | 43.4 | 52.8 | 55.4 | 57.9 | |
EKF sim | 259.7 | 269.4 | 279.9 | 270.1 | 305.0 | 300.2 | |