Three Revised Kalman Filtering Models for Short-Term Rail Transit Passenger Flow Prediction

Table 3

Prediction error statistics of five models during different periods.

Error indices	Models
	KF	NR	KF-ECC	KF-HD	KF-BCNR
MAPE (%)
Morning peak	35.5	10.4	12.9	10.2	8.2
Nonpeak	39.7	15.7	27.2	16.4	13.4
Evening peak	36.9	3.5	23.3	6.0	4.9
Whole day	38.8	19.7	27.8	20.5	18.1
MPE (%)
Morning peak	−35.5	−3.3	−8.2	4.5	0.8
Nonpeak	−39.7	−9.3	−26.6	−0.8	−4.9
Evening peak	−36.9	−1.6	−23.3	2.6	0.6
Whole day	−33.5	−3.4	−14.9	7.5	4.1
RMSE
Morning peak	33.4	11.3	13.6	9.9	7.6
Nonpeak	16.9	8.2	12.7	7.3	6.9
Evening peak	134.9	14.0	85.1	22.5	21.1
Whole day	52.0	10.2	33.0	11.5	10.2
NRMS (%)
Morning peak	38.4	13.0	15.7	11.4	8.7
Nonpeak	44.4	21.5	33.3	19.1	18.1
Evening peak	38.8	4.0	24.5	6.5	6.1
Whole day	60.2	11.8	38.2	13.3	11.9