Maneuvering Detection Using Multiple Parallel CUSUM Detector

Table 4

The average position RMSE (m) and average velocity RMSE (m/s).

Average RMSE	MR	IE	CUSUM			M-CUSUM	IMM
Position	35.47	34.41	33.47	31.52	32.46	32.94	41.39
Velocity	184.01	180.97	170.37	139.58	138.84	129.35	190.37
Position	44.32	44.18	44.46	41.05	39.51	39.87	49.94
Velocity	236.47	241.97	238.69	193.63	180.59	182.88	207.73
Position	20.99	20.41	19.47	18.98	19.32	18.87	27.38
Velocity	116.54	117.70	109.31	110.07	113.13	115.36	166.03
Position	31.80	30.25	30.91	29.64	29.84	28.53	38.06
Velocity	134.03	134.72	126.22	129.89	131.33	126.38	174.31
Position	60.59	58.89	58.79	58.37	59.01	57.28	71.83
Velocity	270.96	246.01	248.49	220.72	228.27	213.27	272.90