A Hybrid Intelligent Multisensor Positioning Methodology for Reliable Vehicle Navigation

Table 1

Statistics of position errors for KF and proposed method.

Outage number	RMS			Maximum
	KF	Proposed	Improvement (%)	KF	Proposed	Improvement (%)
1	19.56	8.37	57.2	28.54	14.77	48.3
2	17.95	6.87	61.7	35.15	13.99	60.2
3	13.93	8.67	37.8	28.27	19.59	30.7
4	12.58	7.79	38.1	17.97	21.18	—
5	18.84	3.81	79.8	36.96	5.77	84.4
6	17.75	10.46	41.1	31.43	19.87	36.8
7	25.97	8.70	66.5	58.05	15.01	74.1
8	15.01	5.51	63.3	31.22	13.11	58.0