Table 3 Positioning error at different positions.
From: Reference coordinate based Chan algorithm for UWB personnel localization in underground coal mines
Coordinate (m) | \(\:\left(\text{1.5,5}\right)\) | \(\:\left(\text{2.5,5}\right)\) | \(\:\left(\text{3.5,5}\right)\) | |
RMSE (m) | Chan | 2.20 | 2.12 | 1.72 |
Chan-Valid | 0.80 | 0.71 | 0.64 | |
Taylor | 0.71 | 0.62 | 0.89 | |
Chan-Taylor | 0.50 | 0.49 | 0.62 | |
CBORF | 0.087 | 0.051 | 0.032 | |
Coordinate (m) | \(\:\left(\text{1.5,3}\right)\) | \(\:\left(\text{2.5,3}\right)\) | \(\:\left(\text{3.5,5}\right)\) | |
RMSE (m) | Chan | 1.02 | 0.87 | 0.89 |
Chan-Valid | 0.42 | 0.34 | 0.34 | |
Taylor | 0.46 | 0.43 | 0.58 | |
Chan-Taylor | 0.34 | 0.35 | 0.48 | |
CBORF | 0.022 | 0.021 | 0.054 | |
Coordinate (m) | \(\:\left(\text{1.5,0}\right)\) | \(\:\left(\text{2.5,0}\right)\) | \(\:\left(\text{3.5,0}\right)\) | |
RMSE (m) | Chan | 0.44 | 0.43 | 0.52 |
Chan-Valid | 0.16 | 0.17 | 0.20 | |
Taylor | 0.21 | 0.18 | 0.21 | |
Chan-Taylor | 0.25 | 0.18 | 0.21 | |
CBORF | 0.089 | 0.077 | 0.068 | |
Coordinate (m) | \(\:(1.5,-3)\) | \(\:(2.5,-3)\) | \(\:(3.5,-3)\) | |
RMSE (m) | Chan | 0.94 | 1.03 | 0.87 |
Chan-Valid | 0.40 | 0.38 | 0.34 | |
Taylor | 0.47 | 0.42 | 0.67 | |
Chan-Taylor | 0.37 | 0.35 | 0.54 | |
CBORF | 0.020 | 0.032 | 0.034 | |
Coordinate (m) | \(\:(1.5,-5)\) | \(\:(2.5,-5)\) | \(\:(3.5,-5)\) | |
RMSE (m) | Chan | 2.03 | 2.02 | 1.88 |
Chan-Valid | 0.81 | 0.71 | 0.62 | |
Taylor | 0.73 | 0.64 | 0.83 | |
Chan-Taylor | 0.50 | 0.48 | 0.63 | |
CBORF | 0.082 | 0.051 | 0.043 | |
