Time-Varying Noise Statistic Estimator Based Adaptive Simplex Cubature Kalman Filter

Table 1

Mean RMSEs of the three filters.

Filters	State 1	State 2	State 3
CKF	0.4693	0.3410	0.1423
SCKF	0.4677	0.3404	0.1421
ASCKF	0.2874	0.2294	0.1191