A Practical and Economical Ultra-wideband Base Station Placement Approach for Indoor Autonomous Driving Systems

Table 1

Distribution characteristics of the HDOP in rectangular and diamond layouts with different axial ratios.

Layout	Axial ratio	Minimum HDOP	Maximum HDOP	Average HDOP	80% grading value HDOP	90% grading value HDOP
Rectangular	1.0	1.285	1.816	1.455	1.426	1.582
	1.4	1.289	1.860	1.485	1.451	1.584
	1.8	1.293	1.976	1.551	1.537	1.688
	2.2	1.296	2.125	1.636	1.601	1.792
	2.6	1.296	2.299	1.735	1.729	1.946
	3.0	1.297	2.492	1.844	1.844	2.136
Diamond	1.0	1.285	1.651	1.410	1.510	1.547
	1.4	1.285	1.761	1.450	1.577	1.640
	1.8	1.285	1.981	1.494	1.647	1.725
	2.2	1.285	2.244	1.549	1.723	1.871
	2.6	1.285	2.555	1.617	1.839	2.058
	3.0	1.285	2.878	1.680	1.960	2.226