RMS in

UKF

CKF

CDKF

146.9

146.9

146.8

4588.5

4588.5

4588.9

111.3

111.3

103.8

2710.8

2710.8

1693.2

120.3

120.3

112.2

5590.7

5590.7

2447.4

133.3

133.3

109.3

4079.6

4079.6

1982.2