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

Table 4

RMSE, NCI, and time of difference algorithms.

	1,450 data points			39,000 data points
	NCI (m)	RMSE (m)	Time (ms)	NCI (m)	RMSE (m)	Time (ms)
GM-EKF	2.32	9.94	1.72	2.61	28.02	5.83
GM-UKF	0.95	1.46	2.42	1.60	18.04	6.58
GM-CKF	0.95	0.88	2.54	0.99	14.6	7.48
IGM-CKF	0.82	0.73	3.66	0.89	9.24	9.02
CKPF	0.88	0.71	20.65	—	—	—