| Heavisine | Doppler | Bump | Block |
---|---|---|---|---|
 | signal | signal | signal | signal |
Conventional method | 1.1×10−6 | 7.3×10−7 | 0.1×10−6 | 0.6×10−3 |
NM method | 1.4×10−6 | 3.8×10−7 | 0.1×10−6 | 2.1×10−3 |
UKF method | 8.0×10−6 | 10.0×10−7 | 1.2×10−6 | 4.4×10−3 |
GA method | 9.5×10−6 | 6.8×10−7 | 2.4×10−6 | 1.7×10−3 |
PSO method | 1.5×10−6 | 1.3×10−7 | 1.6×10−6 | 1.1×10−3 |