Table 2: The
MAEs and STDs of attitude error and position errors by the classical PF, regularized PF and modified PF.
|
Filtering Methods |
Attitude |
Position |
|||||
|
Pitch (’) |
Roll (’) |
Yaw (’) |
Longitude
(m) |
Latitude
(m) |
Altitude
(m) |
||
|
Classical PF |
MAE |
0.27 |
0.32 |
0.45 |
6.89 |
7.69 |
11.67 |
|
STD |
0.36 |
0.41 |
0.59 |
8.62 |
9.19 |
13.41 |
|
|
Regularized PF |
MAE |
0.21 |
0.22 |
0.38 |
5.82 |
6.80 |
9.44 |
|
STD |
0.28 |
0.29 |
0.54 |
7.42 |
8.34 |
10.96 |
|
|
Modified PF |
MAE |
0.15 |
0.18 |
0.30 |
3.20 |
4.06 |
6.21 |
|
STD |
0.19 |
0.22 |
0.38 |
4.05 |
5.34 |
7.59 |
|