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Moreover, the reduction of RMSE with CT model of turn rate 5°/s is largest among all three kinematic models.
The details are shown in Tables 2 and 3. Fig. 5 The fusion RMSE of azimuth and distance for both MCB and UKF-SCI algorithms, with CT model of turn rate 2.5°/s.
There are two sub-figures (a) and (b) in this figure, in which, under the CT model of turn rate 2.5°/s., the changes of fusion RMSE of azimuth and distance are described along with different standard deviations of distance.
There are four sub-figures a, b, c, and d in this figure, in which, under the CT model of turn rate ω=2.5°/s, the changes of fusion RMSE of azimuth and distance are described along with time steps.
The fusion RMSE in (a) and (b) is the mean of all results covering all fusion time steps Fig. 7 The fusion RMSE of azimuth and distance for both MCB and UKF-SCI algorithms, with CT model of turn rate 5°/s.
Meanwhile, a and b show the comparison between MCB and UKF-SCI algorithms under the case of standard deviations of distance σ d =0.3(m); b and d show the comparison between MCB and UKF-SCI algorithms under the case of standard deviations of distance σ d =0.4(m) Fig. 6 The comparison of azimuth and distance RMSE at different standard deviations of distance, with CT model of turn rate 2.5°/s.
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Justyna Jupowicz-Kozak
CEO of Professional Science Editing for Scientists @ prosciediting.com