Dual-Model Reverse CKF Algorithm in Cooperative Navigation for USV

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/mpe/volume-2014/186785/figures/186785.fig.0010a.svgz" name="186785.fig.0010a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Velocity with reverse once</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/mpe/volume-2014/186785/figures/186785.fig.0010b.svgz" name="186785.fig.0010b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Velocity with reverse twice</td></tr></table>

Mathematical Problems in Engineering

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Figure 10

Figure 10: Dual-Model Reverse CKF Algorithm in Cooperative Navigation for USV 