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.0019a.svgz" name="186785.fig.0019a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Initial alignment estimation curve</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/mpe/volume-2014/186785/figures/186785.fig.0019b.svgz" name="186785.fig.0019b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Colocation error curve</td></tr></table>

<div>Performance of reverse algorithm with shorter period.</div>

Mathematical Problems in Engineering

fig19

Figure 19

Figure 19: Dual-Model Reverse CKF Algorithm in Cooperative Navigation for USV 