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

<table class="table-group" id="tab3"><tr><td><table class="table"><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr class="thead"><td class="align_left">Methods</td><td class="align_center">UWB</td><td class="align_center">Barometer</td><td class="align_center">UWB-Baro-EKF(proposed)</td></tr><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr><td class="align_left">Ave (cm)</td><td class="align_center">0 (GT)</td><td class="align_center">0.82</td><td class="align_center">0.16</td></tr><tr><td class="align_left">Std (cm)</td><td class="align_center">20.06</td><td class="align_center">14.42</td><td class="align_center">10.69</td></tr><tr class="table-tr"><td colspan="4"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Estimated height results at 0 cm.</div>

Wireless Communications and Mobile Computing

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Table 3

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