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.0015a.svgz" name="186785.fig.0015a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>The speed of follower (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.0015b.svgz" name="186785.fig.0015b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Trajectory of follower USV (reverse once)</td></tr></table>

<div>The trajectory and speed of follower (reverse once).</div>

Mathematical Problems in Engineering

fig15

Figure 15

Figure 15: Dual-Model Reverse CKF Algorithm in Cooperative Navigation for USV 