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.009a.svgz" name="186785.fig.009a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Initial alignment estimation (enlarge view)</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/mpe/volume-2014/186785/figures/186785.fig.009b.svgz" name="186785.fig.009b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Gyro drift estimation in long time without subsection</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/mpe/volume-2014/186785/figures/186785.fig.009c.svgz" name="186785.fig.009c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Colocation error comparison</td></tr></table>

<div>Comparison of filtering performance with and without subsection.</div>

Mathematical Problems in Engineering

fig9

Figure 9

Figure 9: Dual-Model Reverse CKF Algorithm in Cooperative Navigation for USV 