Application of Improved Simplex Quadrature Cubature Kalman Filter in Nonlinear Dynamic System

Table 4

The RMSE and average time of various filters.

RMSE	CKF	SSRCKF3	CQKF	HDCQKF	SSGQKF3	SSGQKF5
Position (m)	54.5312	53.4788	51.9089	51.1859	51.7158	50.6870
Velocity	34.9573	34.6936	34.0029	33.6358	33.9200	33.2904
(°)	4.1760	4.1726	4.1537	4.1412	4.1534	4.1160
Average time (s)	0.1094	0.1250	0.1563	0.4688	0.2031	0.4063