Terrain Referenced Navigation Using a Multilayer Radial Basis Function-Based Extreme Learning Machine

Table 1

Results of various DEM fitting methods.

	Bilinear interpolation	B-spline NN	SVMR	Conventional ELM	ML-RBF-ELM
Number of hidden nodes	—	1971	—	271	3842301193
Training time	—	249.3 sec	3135.4 sec	8.10 sec	71.72 sec
Test time	—	99.8 μsec	115.3 sec	13.0 μsec	44.0 μsec
Training error	Approx. 1.02%	3.81%	8.76%	24.03%	0.98%
Test error	Approx. 1.01%	7.50%	8.64%	23.48%	1.10%