VM-α-β filter (Equations (8), (10), (11), and (26))

Conventional α-β filter (Equations (8)-(11))

RV-VM filter

RA-VM filter

BBR filter

KR filter

Gain relation

Equation (54)^*

Equation (69)^*

Equation (16)

Equation (19)

Assumed process noise

Equations (14) and (15)

Equations (17) and (18)

Equations (14) and (15)

Equations (17) and (18)

Stability condition

Equation (29) ^*

Equation (29) and R_B ≠ 0 and α ≠ 1^*

0 < α and 0 < β < 4 − 2α [6]

0 < α and α ≠ 1

and 0 < β < 4 − 2α [6]

Tracking performance

Equation (30)^*

Equation (13)

Smoothing performance

Equation (38)^*

Equation (12)

Suitable for

Smoothing^*

Tracking^*

Smoothing

Tracking

Relatively effective when the gains are

Large^*

Large^*

Small^*

Small^*