| Filtered | Smoothed | |||
---|---|---|---|---|---|
Linear | Â | 7.0 | 4.1 | ||
Static | Â | 9.7 | Â | ||
Linear Δ t=15 s |  | 9.3 | 5.2 | ||
Static Δ t=15 s |  | 12.7 |  | ||
Traditional models | θ 0 | EKF | UKF | EKF | UKF |
Estimated footstep length | 0° | 7.9 | 6.9 | 4.6 | 5.5 |
Sensor footstep length | 0° | 7.3 | 6.3 | 3.6 | 4.7 |
Estimated footstep length | 45° | 7.4 | 6.7 | 4.2 | 5.3 |
Sensor footstep length | 45° | 7.1 | 6.4 | 3.9 | 5.0 |
Estimated footstep length | 90° | 10.5 | 9.8 | 7.7 | 7.9 |
Sensor footstep length | 90° | 14.7 | 11.1 | 10.7 | 11.0 |
Estimated footstep length | 135° | 16.4 | 20.0 | 12.8 | 18.4 |
Sensor footstep length | 135° | 17.7 | 14.7 | 16.0 | 16.1 |
Estimated footstep length | 180° | 10.1 | 10.4 | 7.1 | 9.2 |
Sensor footstep length | 180° | 44.7 | 37.4 | 42.8 | 40.7 |