An Improved Unscented Kalman Filter Algorithm for Radar Azimuth Mutation

Table 3

Mean, variance, and RMSE of algorithm velocity data.

Filter	AVE mean (m/s)	AVE variance (m/s)	RMSE (m/s)
UKF	0.5966	0.2774	0.6580
SVD-UKF	0.6080	0.2857	0.6718
SVD-MUKF	0.2525	0.0706	0.2622