TABLE 3

RMSEs of the Six Positioning Algorithms (PF: particle filter)

Positioning algorithmRMSE (m)
4 sensors5 sensors6 sensors
Delay follows Gaussian model
TS-LS0.59270.51150.4625
Rwgh0.59270.51910.5061
EKF0.61210.44270.4088
Standard PF0.47240.40500.3633
RPF0.42790.36390.3502
RCSPF0.40990.34430.3237
RCSPF with delayed measurement rejection//0.5763
Delay follows Rayleigh model
TS-LS0.60290.50220.4676
Rwgh0.60290.51680.5092
EKF0.67760.49100.4557
Standard PF0.50660.41930.3745
RPF0.44190.39360.3494
RCSPF0.42240.36680.3343
RCSPF with delayed measurement rejection///