Modified Adaptive Fusion Scheme for Kalman Filter Based on the Hypothesis Test

Table 2

Error RMSEs of different algorithms.

Algorithm	(m)	(m)	(m/s)	(m/s)	Yaw (°)
CKF	0.147	0.270	0.186	0.160	6.242
MF-CKF	0.079	0.100	0.099	0.096	4.169
Partial-MF-CKF	0.093	0.117	0.104	0.098	4.318
RMF-CKF	0.065	0.087	0.056	0.061	3.620