RMSEs of the Six Positioning Algorithms (PF: particle filter)
Positioning algorithm | RMSE (m) | ||
---|---|---|---|
4 sensors | 5 sensors | 6 sensors | |
Delay follows Gaussian model | |||
TS-LS | 0.5927 | 0.5115 | 0.4625 |
Rwgh | 0.5927 | 0.5191 | 0.5061 |
EKF | 0.6121 | 0.4427 | 0.4088 |
Standard PF | 0.4724 | 0.4050 | 0.3633 |
RPF | 0.4279 | 0.3639 | 0.3502 |
RCSPF | 0.4099 | 0.3443 | 0.3237 |
RCSPF with delayed measurement rejection | / | / | 0.5763 |
Delay follows Rayleigh model | |||
TS-LS | 0.6029 | 0.5022 | 0.4676 |
Rwgh | 0.6029 | 0.5168 | 0.5092 |
EKF | 0.6776 | 0.4910 | 0.4557 |
Standard PF | 0.5066 | 0.4193 | 0.3745 |
RPF | 0.4419 | 0.3936 | 0.3494 |
RCSPF | 0.4224 | 0.3668 | 0.3343 |
RCSPF with delayed measurement rejection | / | / | / |