Dual-Model Reverse CKF Algorithm in Cooperative Navigation for USV

Table 1

The proportion varies in the first 500 s.

Time (s)	Proportion of initial misalignment	Proportion of gyro drift
100	0.9970	0.0030
200	0.9939	0.0061
300	0.9909	0.0091
400	0.9878	0.0122
500	0.9848	0.0152