Table 4.

Statistical characteristics of different methods in the fifth scenario in [m].

Method		EKF + WP	EKF + GM	EKF + AR	UKF + GM	EKF + GM	EKF + AR
	Q	Diagonal Q	Diagonal Q	Diagonal Q	Proposed Q	Proposed Q	Proposed Q
Indicator
RMSE		4.54	0.87	0.90	0.50	0.21	0.24
Mean value of error		4.54	0.88	0.86	0.52	0.25	0.27
Standard deviation of error		0.24	0.20	0.90	0.39	0.32	0.32
Error (95%)		4.86	0.95	1.26	0.62	0.35	0.45