Table 4.
Mean absolute error (MAE) when using algorithmic optimizations for the head position case, with the particle filter, and the Kalman filter. NLoS: non-line-of-sight.
| Algorithm | Movement | Without Optimization |
Bias Compensation |
NLoS Detection |
Path Determination |
|---|---|---|---|---|---|
| Particle filter | Running (v = const) | 193.9 mm | 132.2 mm | 189.4 mm | 187.6 mm |
| Walking (v = const) | 204.6 mm | 169.0 mm | 208.8 mm | 198.4 mm | |
| Accelerating | 151.0 mm | 123.5 mm | 152.5 mm | 160.8 mm | |
| Kalman filter | Running (v = const) | 179.3 mm | 140.5 mm | 166.4 mm | 215.7 mm |
| Walking (v = const) | 203.8 mm | 170.3 mm | 207.6 mm | 213.4 mm | |
| Accelerating | 166.7 mm | 149.4 mm | 164.3 mm | 153.9 mm |