Iterative Smooth Variable Structure Filter for Parameter Estimation

Table 4

Comparison between the IBSS/KF and the IBSS/SVSF.

	IBSS-KF	IBSS-SVSF
Computation time	539.17 sec	42.8 sec
Position RMSE	1.16×10^−5	5.23×10^−10
Velocity RMSE	2.5×10^−8	2.8×10^−9
Acceleration RMSE	6.16×10^−6	8.92×10^−7
Damping ratio RMSE	4.1×10^−6	1.5×10^−6
Natural frequency RMSE	2×10^−2	1.2×10^−3
Gain RMSE	3.45×10^−3	1.86×10^−4
Position MaxError	1.3	1×10^−6
Velocity MaxError	3.8×10^−3	5.5×10^−6
Acceleration MaxError	5.8×10^−1	1.6×10^−3
Damping ratio MaxError	2×10^−2	2×10^−2
Natural frequency MaxError	100.26	99.97
Gain MaxError	17.42	17.45
Position VarError	3.7×10^−5	7.5×10^−14
Velocity VarError	1.72×10^−10	2.15×10^−12
Acceleration VarError	1.04×10^−5	2.16×10^−7
Damping ratio	4.7×10^−6	5.9×10^−7
Natural frequency VarError	109	4.5×10^−1
Gain VarError	3.27	9.4×10^−3
Identify the change in the parameters	No	Yes
Computation complexity	Complex	Simple
Memory needed	Large	Low
Segment length	Effects	No-Effects