A Novel Robust Interval Kalman Filter Algorithm for GPS/INS Integrated Navigation

Table 1

RMSEs of each algorithm (m).

Axis	KF	IKF	RKF	RIKF
	0.130	0.092	0.093	0.090
	0.230	0.180	0.207	0.171
	0.118	0.102	0.109	0.099