An FEM-Based State Estimation Approach to Nonlinear Hybrid Positioning Systems

Table 1

The root-mean-square error and standard deviation of the state.

Algorithm	𝑅𝑥	𝑅𝑦	𝜎𝑥	𝜎𝑦
FE	0.1817	0.2250	0.0956	0.1194
PF	0.2177	0.2444	0.1296	0.1586
UKF	0.5366	0.4965	0.2857	0.3223