Research Article
Application of Improved Simplex Quadrature Cubature Kalman Filter in Nonlinear Dynamic System
Table 3
RMSE averaged over time horizon.
| | State | CKF | SSRCKF3 | CQKF | HDCQKF | SSGQKF3 | SSGQKF5 |
| | 1 | 19.2544 | 16.8918 | 19.0977 | 14.6671 | 16.5971 | 14.4069 | | 2 | 18.4710 | 16.7303 | 18.3860 | 14.6332 | 15.5015 | 14.4000 | | 3 | 17.8151 | 16.2794 | 17.6828 | 14.6456 | 15.3515 | 14.4251 | | 4 | 17.1051 | 15.9543 | 16.9210 | 14.6522 | 15.0779 | 14.3768 | | 5 | 16.4188 | 15.5462 | 16.2267 | 14.5895 | 14.8098 | 14.3143 | | 6 | 15.8976 | 15.3297 | 15.6327 | 14.6457 | 14.7384 | 14.3693 | | 7 | 15.3305 | 15.0235 | 15.1787 | 14.6328 | 14.6056 | 14.3941 | | 8 | 15.0005 | 14.8623 | 14.8227 | 14.6442 | 14.5846 | 14.3755 | | 9 | 14.7918 | 14.7190 | 14.6049 | 14.6931 | 14.5072 | 14.4273 | | 10 | 14.7144 | 14.6500 | 14.5308 | 14.6531 | 14.4309 | 14.3736 |
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