Marginalized Point Mass Filter with Estimating Tidal Depth Bias for Underwater Terrain-Aided Navigation

Table 1

Parameters of filter settings.

Sensors and filters	Parameters
INS velocity error	[0.1; 0.1] m/s
INS sample frequency	100 Hz
MBS sample frequency	0.2 Hz
Initial position search area	300 m by 300 m
Initial depth bias variance	3^2 m^2
Position process noise covariance	diag(2^2, 2^2) m^2
Measurement noise covariance	1^2I m^2
Depth bias noise variance	0.05^2 m^2
Time step between updates	5 s