Table 2.

$\overline{\mathrm{RMSE}}$ (m) of the considered algorithms.

Algorithm	uMAP	uKF	KF [6]	EKF	UKF	PF	MAP	KF	WLS
Scenario 1	2.88	3.15	4.31	2.78	7.16	2.60	2.87	3.13	4.22
Scenario 2	2.97	3.22	4.14	24	22	2.63	2.97	3.22	4.30