An Automated Real-Time Localization System in Highway and Tunnel Using UWB DL-TDoA Technology

Table 3

The average mean of errors of 30, 60, and 80 km/h, respectively, and delay.

Test scenario	Average mean error comparing with RTK (cm)	Positioning frequency (Hz)	Delay (ms)
Static	11.96	10	<50
30 km/h	37.11	26	<50
60 km/h	50.06	26	<50
80 km/h	87.03	26	<50