A Quaternion-Based Robust Adaptive Spherical Simplex Unscented Particle Filter for MINS/VNS/GNS Integrated Navigation System
Table 2
Mean and RMSE of the position estimation errors obtained by PF, UPF, and RASSUPF.
Method
Error type
attitude (′)
Position (m)
Head
Pitch
Roll
Longitude
Latitude
Altitude
PF
MAE
0.6190
0.5363
0.2950
6.0582
7.5205
6.5240
RMSE
0.8647
0.6859
0.4478
7.5845
9.2858
8.3523
UPF
MAE
0.5358
0.3600
0.1928
5.5828
5.5414
5.5488
RMSE
0.6387
0.7500
0.4384
6.4805
7.1587
6.5483
RASSUPF
MAE
0.1167
0.1544
0.1234
1.5832
1.5824
1.4575
RMSE
0.3085
0.3272
0.1660
2.5825
3.5877
3.8105
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