Now that we have finished the unscented common update step, we can look at the results of the simulation.
So the results between the extended common filter and the antennae coming through are very similar to
the additional accuracy provided by the incoming filter is not overall beneficial.
In this specific case, the system models are still fairly linear around the truth, and the first order
Jacoby model used in the extended common filter can work appropriately for these models.
However, will be different situations with different dynamics where this will not be the case.
So if we look at the results we get between the extended camera filter and the antenna karmi filter,
we get results that look a bit like this.
And you can see between the antenna a filter and the external coming filter for the different profiles.
You can see that the results are very closely match.
There's only sort of one result that sort of stands out by looking at them over here.
And this is for the profile number six.
So this is when we start with the non-zero initial condition, the initial transient period as filters
converging is different, which is why we get different results.
So this is not to say the unsuspended coming here is not performing as well as the echo.
It's just that the method it goes after the first couple of updates from the initialization is going
to be slightly different because we're using a different update step process.
So all this error here is just due to the initial convergence.
Once the filter converges, then it should be performed pretty much exactly same as IQF.
So all of this is due to initial transition and the convergence.
And we can see that if we look at the simulation results side by side.
So now let's run the IQF and the UK at the same time and look at the initial condition, transient results.
So you can see as the field starts to run, it jumps around a bit more on the UK.
So this is why we get the larger error overall is just because of the initial convergence.
It takes slightly longer for it to converge down to the truth while the akef converges a lot more quickly
in this specific case is not going to be in general.