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