Filtering methods to improve the accuracy of indoor positioning data for dairy cows

The quality of the positioning data was significantly improved using filtering. The 9th order median filter provided best estimates for cow position when the cows were not moving with median 100% of measurements located in correct stall and 84% in correct feeding trough when compared to the reference observations and measurements. The extended Kalman filter also improved the positioning accuracy significantly when compared to raw data and provides better of estimates of the trajectory of moving cows.