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

Table 2

RMSE of position errors (outages 1, 2, 3, and 4).

	East position (m)		North position (m)
	KF	VB-ACKS	KF	VB-ACKS
ERELM	4.66	1.61	4.27	1.41
LS-SVR	16.79	9.91	32.37	11.73