Randomly Weighted CKF for Multisensor Integrated Systems

Table 3

Position and velocity RMSEs of the filtering algorithms.

Filtering algorithm	Position RMSEs (m)			Velocity RMSEs (m/s)
	With the added errors	Without the added errors	Difference value	With the added errors	Without the added errors	Difference value
UKF	54.354	41.513	12.841	0.546	0.426	0.120
CKF	53.978	41.606	12.372	0.528	0.412	0.116
SIF	51.244	39.402	11.842	0.519	0.407	0.112
AUKF	43.857	34.596	9.261	0.456	0.352	0.104
RWCKF	26.799	23.432	3.364	0.246	0.203	0.043