Research Article
Adaptive Iterated Extended Kalman Filter and Its Application to Autonomous Integrated Navigation for Indoor Robot
Table 2
Comparison of five estimation strategies in terms of velocity error.
| Method | RMSE (m/s) | The first trajectory | The second trajectory | Mean | East | North | East | North |
| INS only | 0.1391 | 0.1682 | 0.1400 | 0.0957 | 0.1358 | WSN | 0.0595 | 0.0854 | 0.0650 | 0.0794 | 0.0723 | EKF | 0.0441 | 0.0539 | 0.0424 | 0.0437 | 0.0460 | IEKF | 0.0425 | 0.0556 | 0.0412 | 0.0482 | 0.0469 | The proposed method | 0.0445 | 0.0546 | 0.0420 | 0.0462 | 0.0468 |
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