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. In the upper figures, σ _d =0.3(m), and in the bottom figures, σ _d =0.4(m). 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. 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)