Adaptive Weight Update Algorithm for Target Tracking of UUV Based on Improved Gaussian Mixture Cubature Kalman Filter

Table 2

RMSE of various filtering algorithms.

Algorithm	GM-EKF	GM-UKF	GM-CKF	IGM-CKF
RMSE	7.7449	5.2376	3.8102	2.9515
Average NCI	1.1251	0.7412	0.5687	0.5422