《Table 3 Time and RMSE means of MCKF and CKF》

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《Marginalized cubature Kalman filtering algorithm based on linear/nonlinear mixed-Gaussian model》

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Fig.2 shows RMSE comparison of MCKF and other three algorithms.In MCKF，velocity is modeled separately to construct measurement to provide the innovation in update process.At the same time，MCKF has higher precision compared with CKF in linear estimation process.It can be verified by the real-time RMSE in Fig.1 and RMSE means values in Table 3，MCKF is superior to the other three algorithms in estimation accuracy.