Huber’s M-Estimation-Based Cubature Kalman Filter for an INS/DVL Integrated System

Table 2

RMS of attitude, velocity, and position errors in three methods.

Method	Attitude	Attitude	Attitude	Velocity	Velocity	Velocity	Position	Position	Position
	(pitch); (°)	(roll); (°)	(yaw); (°)	(E); (m/s)	(N); (m/s)	(U); (m/s)	(E); (m)	(N); (m)	(U); (m)
KF	0.006543	0.005752	0.268802	0.095114	0.096530	0.064754	18.672260	29.432278	60.497953
RCKF	0.003314	0.003262	0.135760	0.050072	0.045546	0.011653	11.959435	12.403772	2.807491
MCKF	0.002069	0.001818	0.134040	0.027138	0.019205	0.008791	9.808824	9.600601	2.714385