A Modified Unscented Kalman Filter Combined with Ant Lion Optimization for Vehicle State Estimation

Table 6

Comparison of ME and RMSE for side slip angle and yaw rate.

State	ME			RMSE
	EKF	UKF	ALOUKF	EKF	UKF	ALOUKF
(deg/s)	11.1912	3.4669	1.6873	6.9136	2.2211	1.0396
(deg)	0.7163	0.3438	0.1930	0.4430	0.2150	0.0682