Improved Height Estimation Using Extended Kalman Filter on UWB-Barometer 3D Indoor Positioning System

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static-preview.hindawi.com/articles/wcmc/volume-2021/7057513/figures/7057513.fig.0013a.svgz" name="7057513.fig.0013a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>UWB simulation dada generated with single outlier</td></tr><tr class="fig-image" id="b"><td><object data="https://static-preview.hindawi.com/articles/wcmc/volume-2021/7057513/figures/7057513.fig.0013b.svgz" name="7057513.fig.0013b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Estimated height with proposed method</td></tr></table>

<div>Original UWB data with single outlier and estimated height with the proposed method.</div>

Wireless Communications and Mobile Computing

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Figure 13

Figure 13: Improved Height Estimation Using Extended Kalman Filter on UWB-Barometer 3D Indoor Positioning System 