TABLE 3

Localization Estimation Comparison of Robot 2 in Simulation Experiments

	w/o ZU						ZU					Improvement^*
	Robot 2	T1	T2	T3	T4	T5	T1	T2	T3	T4	T5	Improvement^*
Error (m)	Max_E	0.53	0.27	0.55	0.36	15.71	0.12	0.13	0.18	0.31	0.18	94.66%
	Max_N	1.34	1.02	0.74	0.48	4.38	0.29	0.34	0.27	0.26	0.26	82.13%
	Max_U	403.06	402.95	368.89	259.97	303.31	8.52	7.29	7.38	4.91	6.15	98.03%
	RMSE_E	0.36	0.19	0.37	0.25	8.94	0.03	0.08	0.03	0.15	0.04	96.65%
	RMSE_N	0.90	0.71	0.49	0.17	2.87	0.20	0.19	0.18	0.15	0.06	84.70 %
	RMSE_U	179.92	182.87	165.57	116.63	135.35	3.42	3.47	3.18	2.19	2.98	98.05%
3D Err (m)	Median	97.76	112.22	93.58	67.19	73.38	3.77	4.08	3.46	2.65	3.44	96.08%
	Max	403.06	402.95	368.89	259.97	303.58	8.52	7.30	7.38	4.92	6.15	98.03%
	STD	120.53	119.48	109.94	77.37	91.22	1.32	1.17	1.17	0.79	0.95	98.96%
	RMSE	179.92	182.87	165.58	116.63	135.67	3.43	3.47	3.18	2.20	2.98	98.04%

↵* Improvement calculated by using the mean values of 5 tests for each metric .