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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 6
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Research Article
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