Integrated Navigation Method of Aerospace Vehicle Based on Rank Statistics

Table 3

Root mean square of navigation parameter estimation error.

	UKF	LRF
Roll angle/(arc-second)	8.8373	8.1344
Pitch angle/(arc-second)	8.5071	7.6470
Yaw angle/(arc-second)	10.4908	8.9204
-axis position/(m)	13.2418	6.7898
-axis position/(m)	11.8534	7.9474
-axis position/(m)	20.2492	5.2763
-axis velocity/(m/s)	2.1154	0.7314
-axis velocity/(m/s)	1.7584	1.0181
-axis velocity/(m/s)	2.9909	0.5263