A Robust EMD-Based RVFL Network Fusion Algorithm for Low-Cost GPS/INS Integrated System

Table 2

SNR comparison on raw signal and denoised signal based on different methods.

Parameter
Raw signal	−11.38	−2.29	−17.31	−10.36	−12.78	−5.74
Wavelet denoised	−10.25	−1.99	−14.25	−9.83	−12.42	−5.37
EMD denoised	−5.18	−1.47	−10.78	−9.37	−11.6	−4.85