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