Research Article
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 |
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