TABLE 1

Algorithm and observation used for each test (PF: Particle filter)

Test NumberPositioning AlgorithmUWB Measurement
Test-1PF with IMUTDOA
Test-2PF with IMUTDOA & AOA
Test-3PF with Approach 1TDOA
Test-4PF with Approach 1TDOA & AOA
Test-5PF with Approach 2TDOA
Test-6PF with Approach 2TDOA & AOA
Test-7standard PFTDOA & AOA
Test-8Rao-Blackwellized PFTDOA & AOA
Test-9Chan-TaylorTDOA