Table 1.

UWB hardware and measurement settings.

General
Environment type	Open space industrial lab
Measurement area	$6.4$ m × $7.2$ m
# Trajectories	2 (performed 5 times each)
Total experiment length	9 min, 812 m
Sensors	UWB, IMU, mocap (ground truth)
UWB
Hardware	Wi-Pos [42]
# Anchors	8 available, 4 used
Anchor geometry	Rectangular
Tag position	Abdomen
Sample rate (Hz)	23 (8 anchors), $11.5$ (4 anchors)
# Measurements	12,482 (8 anchors), 6241 (4 anchors)
UWB Channel	5
Pulse repetition frequency (MHz)	64
Bitrate (kb/s)	850
Preamble length (bytes)	1024
IMU
Hardware	9-DoF Adafruit BNO055
Sample rate (Hz)	100
Mocap (Ground Truth)
Hardware	6-DoF Qualisys system (7 cameras)
Sample rate (Hz)	90
Tracking rate (%)	90%

# = amount of.