A Tightly Coupled Positioning Solution for Land Vehicles in Urban Canyons

Table 2

Statistics of Euclidean distance errors in four regions (unit: m).

Region number	EKF		UKF		AF-EKF		AF-UKF
	Max.	RMS	Max.	RMS	Max.	RMS	Max.	RMS
I	8.47	3.61	8.15	3.42	6.28	3.22	5.31	3.10
II	36.9	13.09	29.34	9.96	10.81	4.89	9.72	4.62
III	21.87	6.05	22.54	6.21	10.11	4.54	10.04	4.59
IV	60.68	12.85	46.92	10.73	11.97	4.73	11.52	4.69