Fig. 6From: EKF/UKF-based channel estimation for robust and reliable communications in V2V and IIoTBER for channel estimation methods in different velocities where the SNR = 10 dB. BERs change in continuous 100 subframes with different velocities. The means of BER of BEM-EKF and BEM-UKF are nearly one third of BEM-LS, and the variance of BEM-EKF and BEM-UKF are also much lower than traditional BEM-LS a lot in all the velocities. It is obvious that the BEM-EKF and BEM-UKF could improve the stability and reliability of CPSBack to article page