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The positioning performance of different methods.
| Method | Statistics of Euclidean Distance Errors (unit: m) | Velocity Information | Positioning Frequency (unit: Hz) | |
|---|---|---|---|---|
|
| ||||
| Max | RMS | |||
| RFID | 12.43 | 4.50 | No | 1 |
| DR | 9.48 | 4.04 | Yes | 10 |
| EKF | 5.77 | 3.62 | Yes | 10 |
| STEKF | 3.16 | 2.31 | Yes | 10 |
| IMM | 2.03 | 1.45 | Yes | 10 |
