Accuracy of UWB Path Loss-Based Localization of Wireless Capsule Endoscopy

Table 3

Accuracy of localization by applying different improvement steps.

Algorithm	Path loss	Degree of path loss	Weight basis	Sensor receivers	Positioning		RMSE	CRLB
Scattered path loss-based WCL (SCPL-WCL)	Scattered	No degree	Scattered path loss	4	WCL	−1.95	119.8	8.77
SCPL-WCL	Scattered	No degree	Scattered path loss	8	WCL	0.319	57.54	3.96
SCPL-WCL	Scattered	No degree	Scattered path loss	48	WCL	0.316	57.67	0.664
Smoothed path loss-based WCL (SPL-WCL)	Estimated smoothed path loss	No degree	Smoothed path loss	8	WCL	0.319	57.56	3.96
SPL-WCL	Estimated smoothed path loss	No degree	Smoothed path loss	48	WCL	0.314	57.74	0.664
Scattered path loss degree-based WCL (SCPLD-WCL)	Scattered	Estimated degree	Scattered path loss raised to the degree	8	WCL	0.955	14.99	3.96
SCPLD-WCL	Scattered	Estimated degree	Scattered path loss raised to the degree	48	WCL	0.985	8.51	0.664
Smoothed path loss degree-based WCL (SPLD-WCL)	Estimated smoothed path loss	Estimated degree	Smoothed path loss raised to the degree	8	WCL	0.9837	8.7	3.96
SPLD-WCL	Estimated smoothed path loss	Estimated degree	Smoothed path loss raised to the degree	48	WCL	0.9901	6.83	0.664