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Steady state values of the positioning RMSE computed by means of RBPF algorithm (for both KF and AGB implementations) for different values of the measurement variance in the range σy 2 = 1 ÷ 15. Here σh 2 = 9, N p = 500, and δh = 1 dBm.
| RBPF-KF | RBPF-AGB | |
|---|---|---|
| σy 2 = 3 | 1.6961 m | 2.2424 m |
| σy 2 = 5 | 1.9600 m | 2.8125 m |
| σy 2 = 10 | 2.4623 m | 2.8657 m |
| σy 2 = 15 | 2.7777 m | 2.9516 m |
