# Study on the Deployment of Ultra-Wideband Positioning Base Stations in Pig Farms
## 4 Experimental Analyses
### Analysis of Real Measurement Experiments
\begin{tabular}{c c c c c c} \hline \hline
**X/Y** & **RMSE Indicator** & **Scenario a** & **Scenario b** & **Scenario c** & **Scenario d** \\ \hline \multirow{4}{*}{X} & Maximum & 25.78 & 18.45 & 27.05 & 20.62 \\  & Minimum & 3.15 & 4.02 & 5.37 & 2.66 \\ \cline{1-1}  & Average & 14.47 & 11.24 & 16.21 & 11.64 \\ \cline{1-1}  & Maximum & 19.01 & 19.72 & 17.44 & 15.51 \\ \cline{1-1} Y & Minimum & 1.30 & 1.76 & 2.94 & 1.16 \\ \cline{1-1}  & Average & 10.15 & 10.74 & 10.19 & 8.33 \\ \hline \hline \end{tabular}   
Table 9: Variance at points with different shapes of base station deployment. \begin{tabular}{c c c c c c} \hline \hline
**X/Y** & **Variance Indicator** & **Scenario a** & **Scenario b** & **Scenario c** & **Scenario d** \\ \hline \multirow{4}{*}{X} & Maximum & 6.22 & 2.57 & 4.59 & 10.28 \\  & Minimum & 1.17 & 1.01 & 0.91 & 1.93 \\ \cline{1-1}  & Average & 3.69 & 1.79 & 2.75 & 6.10 \\ \cline{1-1}  & Maximum & 4.55 & 2.55 & 8.80 & 5.27 \\ \cline{1-1}  & Minimum & 1.14 & 0.99 & 1.68 & 0.95 \\ \cline{1-1}  & Average & 2.84 & 1.77 & 5.24 & 3.11 \\ \hline \hline \end{tabular}   
(2) Dynamic positioning analysis  
Dynamic experimental site selection was conducted in the 6 m \(\times\) 12 cm open hall, following a predetermined path. Four UWB modules were used as base stations, fixed at a height of 175 cm. A UWB module was attached to a bracket rod and secured to the machine trolley, positioning it at a fixed distance of 1m from the ground. The trolley was operated remotely using a set path for dynamic positioning tests. The positioning system operated at a frequency of 10 Hz, with NASsistant V1.0 software on the host PC supporting UWB positioning. The machine car is the ROS machine car of WHEELTEC, controlled by Jetson TX1. Positioning data was recorded and saved, as depicted in Figure 16.  
Figure 15: Variance at points with different shapes of base station deployment. \begin{table}
\begin{tabular}{c c c c c c} \hline \hline
**X/Y** & **Variance Indicator** & **Scenario a** & **Scenario b** & **Scenario c** & **Scenario d** \\ \hline \multirow{4}{*}{X} & Maximum & 6.22 & 2.57 & 4.59 & 10.28 \\  & Minimum & 1.17 & 1.01 & 0.91 & 1.93 \\ \cline{1-1}  & Average & 3.69 & 1.79 & 2.75 & 6.10 \\ \cline{1-1}  & Maximum & 4.55 & 2.55 & 8.80 & 5.27 \\ \cline{1-1}  & Minimum & 1.14 & 0.99 & 1.68 & 0.95 \\ \cline{1-1}  & Average & 2.84 & 1.77 & 5.24 & 3.11 \\ \hline \hline \end{tabular}  
(2) Dynamic positioning analysis  
Dynamic experimental site selection was conducted in the 6 m \(\times\) 12 cm open hall, following a predetermined path. Four UWB modules were used as base stations, fixed at a height of 175 cm. A UWB module was attached to a bracket rod and secured to the machine trolley, positioning it at a fixed distance of 1m from the ground. The trolley was operated remotely using a set path for dynamic positioning tests. The positioning system operated at a frequency of 10 Hz, with NASsistant V1.0 software on the host PC supporting UWB positioning. The machine car is the ROS machine car of WHEELTEC, controlled by Jetson TX1. Positioning data was recorded and saved, as depicted in Figure 16.  
\end{table} 
Table 9: Variance at points with different shapes of base station deployment. tally rather than vertically. It should be noted that UWB positioning involves discrete points, and employing Kalman filtering can effectively smooth and correct these discrete positioning points.