Mathematical Problems in Engineering / 2015 / Article / Tab 3

Research Article

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 lengthAdopted approachRMS attitude error (°)RMS velocity error (m/s)RMS position error (m)
RollPitchYawNorthEastDownLatitudeLongitudeHeight

50 sEKF0.04510.05660.26050.02560.02330.03311.19900.82453.3450
Hybrid KF-UKF0.04380.05490.24990.02550.02330.03311.19840.81993.2310

100 sEKF0.05530.10500.26300.02860.02730.03671.18323.74633.0911
Hybrid KF-UKF0.05080.07670.17060.02400.02590.03391.17013.74343.9175

150 sEKF0.06160.05900.12820.03630.03410.04791.39132.20533.1303
Hybrid KF-UKF0.04890.03670.11400.02190.02370.03331.38762.19493.9078

200 sEKF0.09690.05601.78820.04310.05440.06191.55593.90143.6364
Hybrid KF-UKF0.05860.04031.71310.02310.03180.03601.55523.89983.5416