Position RMSE (m) | Velocity RMSE (m/s) | |||||
---|---|---|---|---|---|---|
Measurements set | EKF | UKF | CKF | EKF | UKF | CKF |
Bearings-only | 1.14 | 0.11 | 0.24 | 1.25 | 0.83 | 0.45 |
Doppler frequency-only | 0.94 | 0.63 | 0.61 | 1.23 | 0.38 | 0.49 |
Bearings-frequency measurements | 0.52 | 0.01 | 0.01 | 0.91 | 0.62 | 0.26 |
Position RMSE (m) | Velocity RMSE (m/s) | |||||
---|---|---|---|---|---|---|
Measurements set | EKF | UKF | CKF | EKF | UKF | CKF |
Bearings-only | 2.2 | 0.4 | 0.5 | 1.6 | 0.4 | 0.5 |
Doppler frequency-only | 2.7 | 0.5 | 0.7 | 3.3 | 0.3 | 0.5 |
Bearings-frequency measurements | 0.7 | 0.1 | 0.1 | 0.4 | 0.2 | 0.2 |