GNSS/Low-Cost MEMS-INS Integration Using Variational Bayesian Adaptive Cubature Kalman Smoother and Ensemble Regularized ELM

Table 1

RMSE of position errors (outages 1, 2).

	East position (m)		North position (m)
	KF	VB-ACKS	KF	VB-ACKS
ERELM	2.44	1.16	1.39	0.48
LS-SVR	10.54	1.32	12	4.45