Maneuvering Detection Using Multiple Parallel CUSUM Detector

Figure 5

RMSE of the first filter.

(a) Position RMSE of

(b) Velocity RMSE of

(c) Position RMSE of

(d) Velocity RMSE of

(e) Position RMSE of

(f) Velocity RMSE of

(g) Position RMSE of

(h) Velocity RMSE of

(i) Position RMSE of

(j) Velocity RMSE of