IMM Iterated Extended ℋ_∞ Particle Filter Algorithm

Table 1

Mean and variance of RMSE under different measurement bearing deviations.

Algorithm	Bearing standard deviations 𝜎𝜃 (mrad)	Mean	Variance
IMM	2	9.7293	98.2215
IMM-IEHF	2	4.0394	5.6625
IMM-PF	2	4.1397	2.4750
IMM-IEHPF	2	2.7593	0.3633
IMM	5	12.794	159.49
IMM-IEHF	5	6.5694	7.5583
IMM-PF	5	5.2413	2.9841
IMM-IEHPF	5	5.3559	1.1192
IMM	10	18.421	333.87
IMM-IEHF	10	8.6552	10.3592
IMM-PF	10	8.3949	8.2179
IMM-IEHPF	10	7.7631	3.4886