Modified Extended Kalman Filtering for Tracking with Insufficient and Intermittent Observations

Table 2

ADEs of the MEKF and the trilateration-based method for three cases of measurement noise.

Measurement noise	Method
	MEKF	Trilateration
= diag	0.0878	0.1823
= diag	0.1382	0.2547
= diag	0.2491	0.4692