An Improved Unscented Kalman Filter Algorithm for Radar Azimuth Mutation

Table 6

Mean, variance, and RMSE of algorithm velocity data.

Filter	AVE mean (m/s)	AVE variance (m/s)	RMSE (m/s)
UKF	0.6006	0.2153	0.6371
SVD-UKF	1.1023	0.3774	1.1651
SVD-MUKF	0.3739	0.0765	0.3817