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Figure 5:
Comparing performance of non-linear Kalman Filters for abruptly manoeuvring observers_
| 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 |
Comparing performance of non-linear Kalman filters for circular moving observers_
| 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 |