Distributed State Estimation for Dynamic Positioning Systems with Uncertain Disturbances and Transmission Time Delays

Figure 7

Comparing DWFASS and IRFHKF methods: (a) trace for the upper boundary, (b) comparison of the estimated position state, (c) comparison of the estimated velocity state, (d) comparison of the estimated acceleration state, and (e) comparison of MAEs for the position.

(a)

(b)

(c)

(d)

(e)