−60
−40
−20
0
20
40
60
80
100
120
140
0
10
20
30
−100
0
100
0
10
20
30
0
2
4
6
8
0
10
20
30
−40
−20
0
meas
truth
EKF
UKF
Mean state
X (m)
Time (s)
Y (m)
Heading (deg)
Velocity (m/s)
Turn rate (deg)
plotly-logomark