A Fusion Localization Algorithm with Adaptive Kalman Gain for Port Container Seamless Positioning

Table 3

Influence of the placement position of UWB-1 AND UWB-2 base station on positioning accuracy.

UWB base station layout location	(− 14, − 6)	(− 42, − 34)	(− 2, 50)	(− 18, 2)	(26, 10)	(50, − 49)
GDOP	2.3198	2.7482	3.1216	3.4813	4.0183	4.1764
Positioning average error	1.4829	1.8654	2.1149	2.3711	2.9766	3.3067