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

Table 6

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	0.056748	0.054119	0.123510	0.060704	0.092225	0.065457	64.267776	8.999050	15.949531
RCKF	0.055770	0.053908	0.084549	0.019751	0.035555	0.034420	9.148301	4.332663	1.426899
MCKF	0.055441	0.053578	0.082219	0.017043	0.017343	0.023971	7.364521	3.542359	1.215638