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.0011a.svgz" name="186785.fig.0011a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Estimation comparison in whole process</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/mpe/volume-2014/186785/figures/186785.fig.0011b.svgz" name="186785.fig.0011b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>The partial enlarged view of initial misalignment</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/mpe/volume-2014/186785/figures/186785.fig.0011c.svgz" name="186785.fig.0011c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>An enlarged view of the gyro drift estimation</td></tr><tr class="fig-image" id="d"><td><object data="https://static.hindawi.com/articles/mpe/volume-2014/186785/figures/186785.fig.0011d.svgz" name="186785.fig.0011d" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(d) </b>Cooperative navigation error estimation</td></tr></table>

<div>Comparison with no reverse, reverse once, and reverse twice.</div>

Mathematical Problems in Engineering

fig11

Figure 11

Figure 11: Dual-Model Reverse CKF Algorithm in Cooperative Navigation for USV 