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.0018a.svgz" name="186785.fig.0018a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Colocating error in subsection 1</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/mpe/volume-2014/186785/figures/186785.fig.0018b.svgz" name="186785.fig.0018b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Colocating error of the whole process</td></tr></table>

<div>Comparison of the positioning errors.</div>

Mathematical Problems in Engineering

fig18

Figure 18

Figure 18: Dual-Model Reverse CKF Algorithm in Cooperative Navigation for USV 