Mixed-Degree Spherical Simplex-Radial Cubature Kalman Filter

Table 2

Filtering performance comparison about the target falling altitude.

Filters	Mean values of	Time (s)	Points
3SSRCKF	393.56981130	0.00816492
5SSRCKF	358.05064678	0.01639527
MSSRCKF	336.41120229	0.00939589