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Table 1 Position RMSEs estimated by the FIR+ELM, FIR+predictive mode, and the FIR+predictive model/ELM in the UWB data missing regions

From: A FIR filter assisted with the predictive model and ELM integrated for UWB-based quadrotor aircraft localization

UWB data

RMSE for different models (m)

missing regions

FIR+predictive model

FIR+ELM

FIR+predictive model/ELM

#1

0.41

0.33

0.34

#2

2.21

8.43

2.21

#3

2.52

10.68

2.54