Table 5 Comparison of relative positioning.

From: Outlier-tolerant relative positioning method based on multi-source information fusion for unmanned aerial vehicles

Relative positioning error

RMSE/m

KF

UKF

SRF

PF

Outlier-tolerant LS

X direction

0.1231

0.1107

0.1088

0.1011

0.0952

Y direction

0.1439

0.1105

0.1085

0.1015

0.0953

Z direction

0.2441

0.2205

0.2021

0.1875

0.0943

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