Research Article
Modified Adaptive Fusion Scheme for Kalman Filter Based on the Hypothesis Test
Table 3
Error RMSEs of different algorithms.
| Algorithm | (m) | (m) | (m/s) | (m/s) | Yaw (°) |
| CKF | 0.392 | 0.436 | 0.189 | 0.162 | 6.403 | MF-CKF | 0.263 | 0.265 | 0.120 | 0.104 | 5.615 | Partial-MF-CKF | 0.231 | 0.209 | 0.108 | 0.095 | 5.127 | RMF-CKF | 0.105 | 0.110 | 0.069 | 0.078 | 4.351 |
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