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

Table 3

Mean and RMS of the horizontal position errors in three methods.

Method	KF	RCKF	MCKF
Mean(m)	31.425472	16.382858	11.855896
RMS(m)	34.855592	17.230253	13.725325