Adaptively Random Weighted Cubature Kalman Filter for Nonlinear Systems

<table class="fixed-width table-group" id="tab2"><tr><td><table class="table"><colgroup><col style="width:9.26em"/><col style="width:9.47em"/><col style="width:10.13em"/><col style="width:6.39em"/><col style="width:6.22em"/></colgroup><tr><td class="thead-hr" colspan="5"><hr/></td></tr><tr class="thead"><td class="align_left" rowspan="2">Filtering algorithms</td><td class="align_center" rowspan="2">Position RMSEs (m)</td><td class="align_center" rowspan="2">Velocity RMSEs (m/s)</td><td class="align_center" colspan="2">Estimation RMSEs</td></tr><tr class="thead"><td class="align_center"><span style="width: 6.87192ptpx;"><svg height="9.29901pt" id="M296" style="vertical-align:-3.23371pt" version="1.1" viewbox="-0.0498162 -6.0653 6.87192 9.29901" width="6.87192pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M503 438L486 441C451 449 386 454 374 454C354 454 329 450 304 444C256 432 180 399 146 372C70 311 21 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331 358 318C362 314 374 314 384 323C396 334 406 348 419 368C433 390 435 417 422 431Z"></path></g></svg></td></tr><tr><td class="thead-hr" colspan="5"><hr/></td></tr><tr><td class="align_left">CKF</td><td class="align_center">39.629</td><td class="align_center">0.357</td><td class="align_center">-</td><td class="align_center">-</td></tr><tr><td class="align_left">ARWCKF</td><td class="align_center">11.289</td><td class="align_center">0.068</td><td class="align_center"> <svg height="11.9413pt" id="M298" style="vertical-align:-0.3499002pt" version="1.1" viewbox="-0.0498162 -11.5914 64.653 11.9413" width="64.653pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M285 378C315 398 338 416 353 432C373 451 384 474 384 503C384 579 325 635 236 635H235C182 635 136 610 108 579L65 516L85 496C110 533 150 575 205 575C258 575 300 543 300 481C300 407 232 369 141 339L147 310C163 315 188 321 211 321C268 321 338 284 338 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Mathematical Problems in Engineering

tab2

Table 2

Table 2: Adaptively Random Weighted Cubature Kalman Filter for Nonlinear Systems 