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Mathematical Problems in Engineering
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Mathematical Problems in Engineering
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2021
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Article
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Tab 4
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Research Article
A Modified Unscented Kalman Filter Combined with Ant Lion Optimization for Vehicle State Estimation
Table 4
Comparison of ME and RMSE for side slip angle and yaw rate.
State
ME
RMSE
EKF
UKF
ALOUKF
EKF
UKF
ALOUKF
(deg/s)
7.1879
6.2109
0.6841
2.2286
1.8430
0.1594
(deg)
0.2745
0.2064
0.1447
0.0937
0.0745
0.0438