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Table 3 Position RMSEs produced by the INS, UWB, dKF for CMN, and dKF for CMN with switch CFM in test 2

From: Distributed Kalman filter for UWB/INS integrated pedestrian localization under colored measurement noise

Algorithms

RMSE (m)

INS

1.69

UWB

0.76

dKF

0.73

dKF for CMN with switch CFM

0.53

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