Table 2. Comparison of pose estimation error by odometry and the proposed DADT UWB system while the vehicle moves. (Unit: m).

	Odometry				Proposed DADT
	Mean	Min	Max	Std	Mean	Min	Max	Std
Test 1	0.3396	0.0012	0.8322	0.2613	0.0691	0.0016	0.2831	0.0476
Test 2	0.3555	0.0140	0.6925	0.1414	0.0720	0.0129	0.2220	0.0397
Test 3	0.3930	0.0034	0.7266	0.2362	0.0714	0.0035	0.2075	0.0382
Test 4	0.3831	0.0032	0.5838	0.1525	0.0732	0.0030	0.2344	0.0401