Table 1 The experimental results of the proposed framework and baselines

From: Multi-horizon flight trajectory prediction enabled by time-frequency wavelet transform

Style	Methods	Steps	MAE↓			MAPE(%)↓			RMSE↓			MDE↓
			Lon	Lat	Alt	Lon	Lat	Alt	Lon	Lat	Alt
Iterative	Kalman filter	1	0.0067	0.0032	1.50	0.0062	0.0120	0.28	0.0054	0.0171	8.50	0.44
		3	0.0112	0.0059	2.97	0.0104	0.0220	0.54	0.0861	0.0272	11.48	0.76
		9	0.0281	0.0168	8.73	0.0261	0.0624	1.49	0.1847	0.0619	25.83	1.99
		15	0.0494	0.0313	15.63	0.0459	0.1162	2.53	0.2896	0.1016	42.39	3.57
	CNN-LSTM	1	0.0042	0.0041	1.58	0.0039	0.0153	0.24	0.0065	0.0104	5.95	0.37
		3	0.0054	0.0053	2.87	0.0051	0.0196	0.45	0.0090	0.0138	7.68	0.48
		9	0.0120	0.0112	8.08	0.0112	0.0414	1.24	0.0228	0.0260	16.32	1.03
		15	0.0201	0.0185	14.43	0.0187	0.0682	2.14	0.0400	0.0408	26.25	1.72
	FlightBERT	1	0.0024	0.0021	1.20	0.0023	0.0077	0.23	0.0387	0.0325	12.04	0.24
		3	0.0039	0.0036	2.19	0.0035	0.0133	0.41	0.0486	0.0506	13.65	0.38
		9	0.0091	0.0086	6.20	0.0085	0.0317	1.09	0.0608	0.0679	22.45	0.86
		15	0.0159	0.0148	10.80	0.0148	0.0549	1.84	0.0742	0.0794	32.76	1.46
	WTFTP	1	0.0021	0.0021	1.10	0.0020	0.0077	0.18	0.0049	0.0105	6.29	0.19
		3	0.0034	0.0033	2.33	0.0032	0.0124	0.39	0.0077	0.0134	7.63	0.30
		9	0.0109	0.0099	7.68	0.0102	0.0367	1.21	0.0233	0.0265	16.76	0.92
		15	0.0211	0.0187	14.40	0.0197	0.0693	2.19	0.0429	0.0432	27.80	1.77
Direct	Attn-LSTM	1	0.0064	0.0068	1.98	0.0059	0.0249	0.30	0.0109	0.0138	5.96	0.59
		3	0.0058	0.0060	2.75	0.0054	0.0221	0.43	0.0101	0.0144	7.36	0.53
		9	0.0082	0.0083	6.07	0.0076	0.0305	0.94	0.0178	0.0221	14.03	0.74
		15	0.0125	0.0122	9.05	0.0116	0.0450	1.38	0.0299	0.0327	20.01	1.10
	TD-Transformer	1	0.0041	0.0040	2.05	0.0038	0.0146	0.31	0.0063	0.0095	6.33	0.36
		3	0.0044	0.0045	2.86	0.0041	0.0165	0.45	0.0076	0.0122	7.71	0.40
		9	0.0078	0.0076	6.08	0.0073	0.0279	0.95	0.0174	0.0204	14.27	0.69
		15	0.0124	0.0117	9.15	0.0116	0.0434	1.41	0.0303	0.0312	20.31	1.09
	FlightBERT++	1	0.0017	0.0017	1.15	0.0016	0.0066	0.20	0.0037	0.0115	12.07	0.17
		3	0.0031	0.0031	2.23	0.0029	0.0117	0.41	0.0067	0.0131	12.46	0.30
		9	0.0076	0.0074	5.30	0.0070	0.0277	0.96	0.0172	0.0232	17.92	0.70
		15	0.0124	0.0117	7.43	0.0109	0.0425	1.37	0.0265	0.0326	22.89	1.06
	WTFTP+	1	0.0014	0.0014	1.07	0.0013	0.0051	0.17	0.0033	0.0075	7.28	0.12
		3	0.0026	0.0026	2.18	0.0024	0.0095	0.36	0.0059	0.0108	7.87	0.23
		9	0.0069	0.0067	5.81	0.0064	0.0247	0.92	0.0165	0.0202	14.35	0.60
		15	0.0122	0.0115	9.24	0.0114	0.0427	1.44	0.0294	0.0312	20.59	1.06

Lon, Lat and Alt indicate the longitude, latitude, and altitude, respectively.
For the MAE and RMSE metrics, the units for longitude (Lon) and latitude (Lat) are measured in degrees, while the unit for altitude (Alt) is 10 meters. The MDE metric is reported in nautical miles.
The bold values denote the best performance on the corresponding metric.
↓ indicates metric to be minimized.

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Table 1 The experimental results of the proposed framework and baselines

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