Pseudosatellite Dynamic Positioning of UAV Pod Based on an Improved SR-UKF Algorithm

Table 2

Statistics of positional errors of the three algorithms.

Evaluation indicators	EKF			UKF			SR-UKF
	X	Y	Z	X	Y	Z	X	Y	Z
Maximum Value	1.340	0.364	0.612	0.261	0.237	0.384	0.153	0.170	0.258
Minimum value	-0.742	-0.157	0.009	-0.109	-0.089	0.013	-0.035	-0.065	0.015
Average	0.277	0.154	0.151	0.079	0.102	0.102	0.055	0.076	0.074
Standard deviation	0.402	0.091	0.108	0.063	0.054	0.067	0.039	0.040	0.045