Table 3: Performance comparison.

RMSE in position (m) RMSE in velocity (m/s) ET (s) TLR SR

IMMJPDA T1: 26.04, T2: 31.28 T1: 39.48, T2: 31.98 0.75 8.7% 13.9%
MS-IMMJPDA T1: 25.30, T2: 30.26 T1: 39.22, T2: 31.76 3.78 0 4.5%
PFPNI-PFMSJPDA T1: 14.42, T2: 18.14 T1: 34.44, T2: 30.58 4.0 0 3.7%