Research Article
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 |
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