An Improved Gaussian Mixture CKF Algorithm under Non-Gaussian Observation Noise

Table 2

RMSE and time of different algorithms.

	NCI	RMSE (m)	Time (ms)
GMEKF	1.1534	6.3300	36.105
GMUKF	0.7591	5.4350	130.631
GMCKF	0.6522	3.9051	163.330
IGMCKF	0.6280	2.0042	257.302