Mathematical Problems in Engineering / 2019 / Article / Tab 2

Research Article

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.

MethodError typeattitude (′)Position (m)
HeadPitchRollLongitudeLatitudeAltitude

PFMAE0.61900.53630.29506.05827.52056.5240
RMSE0.86470.68590.44787.58459.28588.3523
UPFMAE0.53580.36000.19285.58285.54145.5488
RMSE0.63870.75000.43846.48057.15876.5483
RASSUPFMAE0.11670.15440.12341.58321.58241.4575
RMSE0.30850.32720.16602.58253.58773.8105

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