Evaluation of Localization by Extended Kalman Filter, Unscented Kalman Filter, and Particle Filter-Based Techniques

Figure 1

Localization comparison of EKF. In this phase, for all four iterations, the velocity is and time is . In the legends, the red dashed line represents the EKF localization, where the green is the dead reckoning (DR), the pink solid line is the ground truth (GT), the blue color asterisks denote the GPS signals, and the blue line denotes the error ellipse (EE) during localization.

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