An Evaluation Method of Ship-Tracking Algorithms for High-Frequency Surface Wave Radar considering High Maneuvers Generated by the MMG Model

Table 5

The performance indicator of the ship tracking algorithm.

Performance indicators	Tracking algorithm	Radar A			Radar B			Average
		Linear	Turning	Zigzag	Linear	Turning	Zigzag	Linear	Maneuvers
RMSE of position (km)	KF	1.666	1.673	1.627	1.696	1.620	1.702	1.681	1.655
	EKF	1.362	1.665	1.624	1.374	1.616	1.699	1.368	1.651
	UKF	1.636	1.662	1.623	1.667	1.613	1.698	1.652	1.649
	PF	1.711	1.698	1.645	1.737	1.650	1.722	1.724	1.678
RMSE of radial range (km)	KF	0.655	0.646	0.636	0.649	0.645	0.642	0.652	0.642
	EKF	0.523	0.639	0.634	0.523	0.639	0.640	0.526	0.638
	UKF	0.632	0.639	0.635	0.626	0.640	0.642	0.629	0.639
	PF	0.632	0.669	1.654	0.626	0.661	0.655	0.629	0.660
RMSE of bearing angle (°)	KF	1.891	1.918	1.851	1.938	1.880	2.039	1.914	1.922
	EKF	1.542	1.916	1.850	1.556	1.884	2.038	1.550	1.922
	UKF	1.883	1.912	1.848	1.929	1.879	2.035	1.906	1.919
	PF	1.895	1.947	1.861	1.937	1.922	2.053	1.916	1.944
RMSE of speed (m/s)	KF	0.356	0.394	0.354	0.374	0.413	0.357	0.375	0.380
	EKF	0.004	0.177	0.153	0.005	0.177	0.153	0.005	0.165
	UKF	0.011	0.177	0.153	0.011	0.177	0.153	0.011	0.165
	PF	0.013	0.182	0.157	0.013	0.182	0.57	0.013	0.170

The minimum error in each case is signed in bold front.