Standard deviations of the process and measurement noises in each algorithm (PF: Particle filter)
| Algorithm | Motion Process Noise | Measurement Noise |
|---|---|---|
| PF with IMU | σx = σy = σz = 0.2m | σd = 0.3 m σα = 3° |
| PF with Approach 1 | σx = σy = σz = 0.6 m/s2 (first time stamp) σx = σy = σz = 0.4 m/s2 (latter time stamps) | σϕ = 5° |
| PF with Approach 2 | / (determine adaptively) | |
| standard PF | σx = σy = σz = 0.1 m/s2 | |
| Rao-Blackwellized PF |