Kalman Filter for Cross-Noise in the Integration of SINS and DVL

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="260209.fig.002a" src="https://static.hindawi.com/articles/mpe/volume-2014/260209/figures/260209.fig.002a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>The relationship between DVL, body, and navigation frame</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="260209.fig.002b" src="https://static.hindawi.com/articles/mpe/volume-2014/260209/figures/260209.fig.002b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Objection processes of DVL velocity</td></tr></table></td></tr></table>

<table>Calculation process for DVL velocity in navigation frame.</table>

Mathematical Problems in Engineering

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Figure 2

Figure 2: Kalman Filter for Cross-Noise in the Integration of SINS and DVL 