A New Sparse Gauss-Hermite Cubature Rule Based on Relative-Weight-Ratios for Bearing-Ranging Target Tracking

Table 3

CRMSE of different filters.

Filter	CKF (5th)	GHKF (full)	SGHKF (Smolyak)	SGHKF (novel)
	points	points	points	points
	11.4217	11.4215	15.8146	14.2034
	6.6320	6.6320	14.2974	10.4270
	0.0088	0.0088	0.0207	0.0145