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. 2021 Mar 16;21(6):2086. doi: 10.3390/s21062086

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© 2021 by the authors.

Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).

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Results for the different sceanrios: (Top) Additive noise S1, (Middle) non-additive noise S2, and (Bottom) both additive and non-additive noise S3. MSE results for the optimal EKF $_{r e f}$ , mismatched EKF, and three LCEKF implementations: LCEKF $_{D B}$ (mitigation of $d D_{B}$ ), LCEKF $_{D T}$ (mitigation of $d D_{T}$ ), and LCEKF $_{D B, D T}$ (mitigation of both $d D_{B}$ and $d D_{T}$ ).

Results for the different sceanrios: (Top) Additive noise S1, (Middle) non-additive noise S2, and (Bottom) both additive and non-additive noise S3. MSE results for the optimal EKF $_{r e f}$ , mismatched EKF, and three LCEKF implementations: LCEKF $_{D B}$ (mitigation of $d D_{B}$ ), LCEKF $_{D T}$ (mitigation of $d D_{T}$ ), and LCEKF $_{D B, D T}$ (mitigation of both $d D_{B}$ and $d D_{T}$ ).