Huber’s M-Estimation-Based Cubature Kalman Filter for an INS/DVL Integrated System

Table 5

Mean of attitude, velocity, and position errors in three methods.

Method	Attitude	Attitude	Attitude	Velocity	Velocity	Velocity	Position	Position	Position
	(pitch); (°)	(roll); (°)	(yaw); (°)	(E); (m/s)	(N); (m/s)	(U); (m/s)	(E); (m)	(N); (m)	(U); (m)
KF	0.053206	0.050538	0.084451	0.047838	0.058714	0.060990	58.039831	7.212915	12.061803
RCKF	0.052009	0.050092	0.081970	0.015309	0.030779	0.030492	7.863441	3.687310	1.131346
MCKF	0.051748	0.049873	0.080871	0.012343	0.013510	0.020484	5.995487	2.717509	1.097752