Algorithm | Motion Process Noise | Measurement Noise |
---|---|---|

PF with IMU | σ = _{x}σ = _{y}σ = 0.2m_{z} | σ = 0.3 m_{d}σ = 3°_{α} |

PF with Approach 1 | σ = _{x}σ = _{y}σ = 0.6 m/_{z}s^{2} (first time stamp) σ = _{x}σ = _{y}σ = 0.4 m/_{z}s^{2} (latter time stamps) | σ = 5°_{ϕ} |

PF with Approach 2 | / (determine adaptively) | |

standard PF | σ = _{x}σ = _{y}σ = 0.1 m/_{z}s^{2} | |

Rao-Blackwellized PF |