RMS in

UKF

CKF

CDKF

35.9

35.9

35.9

203.4

203.4

203.4

41.4

41.4

41.3

162.8

162.8

161.6

30.6

30.6

31.9

171.4

171.4

171.1

49.2

49.2

49.1

291.7

291.7

291.4