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