Nonlinear Filtering for Hybrid GPS/GSM Mobile Terminal Tracking

Table 7

Average MT location error in meters of EKF, RBUKF, and MCKF for field trial scenario.

Algorithm	Method
	GSM	Hybrid 1	Hybrid 2
EKF [12]	59.2	55.5	43.8
RBUKF	55.1	52.3	42.8
MCKF	56.5	53.8	41.7