| Heavisine | Doppler | Bump | Block | Mean | STD |
---|---|---|---|---|---|---|
 | signal | signal | signal | signal |  |  |
Conventional method | 5.496 | 5.451 | 5.647 | 5.501 | 5.524 | 0.085 |
NM method | 1.286 | 1.172 | 1.316 | 1.331 | 1.276 | 0.072 |
UKF method | 1.135 | 1.052 | 1.208 | 1.161 | 1.139 | 0.065 |
GA method | 1.607 | 1.447 | 1.934 | 2.424 | 1.853 | 0.431 |
PSO method | 5.094 | 8.047 | 5.031 | 4.953 | 5.781 | 1.512 |