A Bayesian Adaptive Unscented Kalman Filter for Aircraft Parameter and Noise Estimation

Table 2

The RMSE and efficiency of the three UKF algorithms.

Algorithms	RMSE				Computational time (s)
	SUKF	0.1167	0.1133	0.1558		0.0385	0.0312
BUKF	0.1191	0.0999	0.1466	0.0376	0.0319
PUKF	0.1592	0.1335	0.1396	0.0686	0.0322