Table 3 Prediction performance of the WTFTP+ framework with different levels of wavelet

Levels	Horizon	MAE↓			MAPE(%)↓			RMSE↓			MDE↓
		Lon	Lat	Alt	Lon	Lat	Alt	Lon	Lat	Alt
1	1	0.0015	0.0015	1.09	0.0014	0.0055	0.18	0.0035	0.0080	6.39	0.14
	3	0.0028	0.0027	2.24	0.0026	0.0101	0.37	0.0064	0.0123	7.49	0.25
	9	0.0074	0.0072	6.06	0.0069	0.0265	0.96	0.0183	0.0245	14.32	0.65
	15	0.0132	0.0124	9.77	0.0123	0.0459	1.51	0.0320	0.0362	20.79	1.14
2	1	0.0014	0.0014	1.01	0.0013	0.0052	0.17	0.0033	0.0077	6.81	0.12
	3	0.0027	0.0026	2.17	0.0025	0.0098	0.36	0.0061	0.0114	7.62	0.24
	9	0.0071	0.0069	5.97	0.0066	0.0256	0.94	0.0174	0.0214	14.21	0.63
	15	0.0127	0.0120	9.59	0.0119	0.0446	1.48	0.0306	0.0326	20.56	1.11
3	1	0.0014	0.0014	1.05	0.0013	0.0052	0.17	0.0032	0.0074	6.84	0.12
	3	0.0026	0.0026	2.19	0.0025	0.0098	0.36	0.0059	0.0108	7.56	0.24
	9	0.0070	0.0068	5.87	0.0065	0.0253	0.93	0.0169	0.0205	14.19	0.62
	15	0.0125	0.0119	9.53	0.0116	0.0440	1.48	0.0300	0.0318	20.58	1.09
4	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

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