Spherical Simplex-Radial Cubature Quadrature Kalman Filter

Table 2

Variance RMSE of state 1.

Filters	State  1	State  2	State  3
CKF	0.0108	0.0108	0.0097
SSRCKF	0.0120	0.0115	0.0217
SSRCQKF-2	0.0102	0.0089	0.0060
SSRCQKF-3	0.0099	0.0087	0.0056