INS/WSN-Integrated Navigation Utilizing LS-SVM and 𝐻_∞ Filtering

Table 2

The mean errors of position and velocity for the INS-only, KF, and HF methods in the training area.

Mode	𝛿(𝛿𝑟𝑥) (m)		𝛿(𝛿𝑟𝑦) (m)		𝛿(𝛿𝑣𝑥) (m/s)		𝛿(𝛿𝑣𝑦) (m/s)
	No. 1 area	No. 2 area	No. 1 area	No. 2 area	No. 1 area	No. 2 area	No. 1 area	No. 2 area
INS-only	7.8315	40.6179	4.7923	36.0891	0.6584	2.0649	1.5777	2.0649
KF	2.9170	14.9663	1.7916	13.2591	0.2715	0.3155	0.5984	0.8856
HF	0.3881	0.4958	0.5338	0.8464	0.1064	0.1041	0.1008	0.0932