Error Prediction for SINS/GPS after GPS Outage Based on Hybrid KF-UKF

Table 3

Comparison of navigation error between EKF and hybrid KF-UKF after GPS outage.

Outages length	Adopted approach	RMS attitude error (°)			RMS velocity error (m/s)			RMS position error (m)
		Roll	Pitch	Yaw	North	East	Down	Latitude	Longitude	Height
50 s	EKF	0.0451	0.0566	0.2605	0.0256	0.0233	0.0331	1.1990	0.8245	3.3450
	Hybrid KF-UKF	0.0438	0.0549	0.2499	0.0255	0.0233	0.0331	1.1984	0.8199	3.2310
100 s	EKF	0.0553	0.1050	0.2630	0.0286	0.0273	0.0367	1.1832	3.7463	3.0911
	Hybrid KF-UKF	0.0508	0.0767	0.1706	0.0240	0.0259	0.0339	1.1701	3.7434	3.9175
150 s	EKF	0.0616	0.0590	0.1282	0.0363	0.0341	0.0479	1.3913	2.2053	3.1303
	Hybrid KF-UKF	0.0489	0.0367	0.1140	0.0219	0.0237	0.0333	1.3876	2.1949	3.9078
200 s	EKF	0.0969	0.0560	1.7882	0.0431	0.0544	0.0619	1.5559	3.9014	3.6364
	Hybrid KF-UKF	0.0586	0.0403	1.7131	0.0231	0.0318	0.0360	1.5552	3.8998	3.5416