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

Table 3

The mean errors of position and velocity for the INS-only, KF, and HF methods in the prediction 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	12.1524	72.4795	8.7879	70.0089	0.8897	3.0793	2.0265	6.0012
BP	5.2628	36.4784	4.9441	36.5174	0.6502	1.1008	0.8096	1.6045
LS-SVM	0.5916	5.2938	0.4676	4.6548	0.0786	0.0092	0.0754	0.0567