Quasi-Stochastic Integration Filter for Nonlinear Estimation

Table 2

AMSEs and single step running times for bearings-only tracking.

Filters	TUKF	MCKF	1st-SIF	3rd-SIF	3rd-CKF	5th-CKF	3rd-QSIF	5th-QSIF
AMSEs (m)	8.79	64.33	2.30	107.87	8.79	2.07	6.86	1.79
Time (msec)	0.38	3.64	3.65	1.85	0.35	0.72	1.81	3.62