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

Table 4

RMSE comparison for different methods in outage 1.

	North		East
	RMSE	Time	RMSE	Time
RBN	255.3	0.099314	60.4	0.076550
ELM	166.5	0.015102	71.3	0.010056
RVFL	122.1	0.016556	45.1	0.01223