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

Table 2

RMSE of each algorithm (m).

Axis	KF	IKF	RKF	RIKF
	0.454	0.286	0.106	0.099
	0.538	0.365	0.215	0.179
	0.436	0.292	0.123	0.117