Reliable Positioning Algorithm Using Two-Stage Adaptive Filtering in GPS-Denied Environments

Table 2

The positioning performance of different methods.

Method	Statistics of Euclidean distance errors (unit: m)		Velocity output frequency (unit: Hz)
	Max	RMS
Preliminary	12.19	5.47	No	1
DR	11.14	7.21	Yes	10
EKF	7.71	4.17	Yes	10
ADIF	2.76	2.31	Yes	10