Nonlinear Filtering for Hybrid GPS/GSM Mobile Terminal Tracking

Table 4

Average RMSE performance of EKF, RBUKF, and MCKF for Scenario I.

Algorithm	Method	Location in m	Velocity in m/s	Bias in m	Drift in m/s
	GSM	73.9	3.6	—	—
EKF [12]	Hybrid 1	73.0	3.4	34.2	1.9
	Hybrid 2	44.3	2.7	4.6	1.2
	GSM	73.8	3.6	—	—
RBUKF [13]	Hybrid 1	72.1	3.5	33.7	1.9
	Hybrid 2	44.2	2.7	4.6	1.2
	GSM	71.5	3.6	—	—
MCKF	Hybrid 1	70.8	3.4	33.5	1.9
	Hybrid 2	44.0	2.7	4.6	1.2