Simplex Cubature Kalman-Consensus Filter for Distributed Space Target Tracking

Table 2

Mean velocity RMSEs.

Filters	Radar 1; /(m⋅s^−1)	Radar 2; /(m⋅s^−1)	Radar 3; /(m⋅s^−1)	Radar 4; /(m⋅s^−1)	Radar 5; /(m⋅s^−1)	Radar 6; /(m⋅s^−1)
CKF	0.1750	0.2317	0.2317	0.1801	0.2077	0.1999
CKCF	0.0713	0.0433	0.0411	0.0449	0.0397	0.0439
Proposed SCKCF	0.0496	0.0343	0.0317	0.0334	0.0342	0.0339
Centralized filter	0.0256