0
2
4
6
8
0
10
20
30
0
2
4
0
5
10
15
20
25
30
35
40
0
10
20
meas
EKF
UKF
Root Mean Square Errors
Time (s)
RMSE Pos (m)
RMSE Heading (deg)
RMSE Velocity (m/s)
RMSE Turn rate (deg/s)
plotly-logomark