Spherical Simplex-Radial Cubature Quadrature Kalman Filter

Table 1

Average RMSE of state.

Filters	State  1	State  2	State  3
CKF	0.8743	0.6120	0.4928
SSRCKF	0.9540	0.7152	0.6429
SSRCQKF-2	0.8621	0.5737	0.4427
SSRCQKF-3	0.8570	0.5705	0.4305