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Position tracking errors of the different algorithms for Case 2. The bold numbers stand for the minimum.
| Algorithm | 200–600 Epochs | 601–1000 Epochs | ||
|---|---|---|---|---|
| Mean (m) | Variance (m2) | Mean (m) | Variance (m2) | |
| Standard UKF | 7.183457 | 4.194677 | 2.963046 | 0.946813 |
| Robust adaptive UKF | 7.516162 | 4.186171 | 3.026402 | 0.083734 |
| N-UKF | 7.297261 | 3.885044 | 2.731655 | 0.091129 |
| Improved Sage–Husa UKF | 15.99712 | 90.22968 | 6.232764 | 34.17588 |
| Our proposed method | 4.160627 | 0.738772 | 2.848997 | 0.095412 |
