Table 2 Experimental results of position error based on the loosely-coupled system (Unit: m).
From: Attention based LSTM framework for robust UWB and INS integration in NLOS environments
Scene | KF | KF-ZUPT | DNN | Trans. | RNN | GRU | LSTM | Att-RNN | Att-GRU | Att-LSTM |
|---|---|---|---|---|---|---|---|---|---|---|
1 | 1.35 | 0.80 | 0.79 | 0.61 | 0.87 | 0.73 | 1.14 | 0.52 | 0.56 | 0.45 |
2 | 3.73 | 2.96 | 3.21 | 2.81 | 2.13 | 2.07 | 2.38 | 2.08 | 2.93 | 0.67 |
3 | 1.31 | 0.74 | 0.51 | 0.70 | 0.26 | 0.35 | 0.23 | 0.92 | 0.25 | 0.40 |
4 | 1.21 | 0.82 | 1.09 | 1.14 | 0.80 | 0.56 | 0.83 | 0.58 | 0.65 | 0.41 |
5 | 1.48 | 0.55 | 0.54 | 0.65 | 0.81 | 0.54 | 0.44 | 0.38 | 0.41 | 0.64 |
6 | 1.52 | 0.59 | 0.72 | 0.99 | 1.11 | 1.08 | 1.05 | 1.38 | 0.72 | 0.37 |
