Research on Extended Kalman Filter and Particle Filter Combinational Algorithm in UWB and Foot-Mounted IMU Fusion Positioning

Table 4

Statistics of range differences in four beacons before and after the filtering.

	The original UWB data				The filtered UWB data
	Mean difference	Maximum difference	Minimum difference	Difference variance	Mean difference	Maximum difference	Minimum difference	Difference variance
Range 1	0.17	1.67	0	0.15	0.16	1.21	0.008	0.12
Range 2	0.17	1.71	0	0.20	0.16	1.21	0.0006	0.16
Range 3	0.17	1.05	0	0.16	0.16	0.69	0.0008	0.12
Range 4	0.17	0.93	0	0.15	0.16	0.70	0.001	0.12