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.004a" src="https://static.hindawi.com/articles/mpe/volume-2014/260209/figures/260209.fig.004a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>East velocity</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="260209.fig.004b" src="https://static.hindawi.com/articles/mpe/volume-2014/260209/figures/260209.fig.004b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>North velocity</td></tr></table></td></tr><tr class="fig-image" id="c"><td><img alt="260209.fig.004c" src="https://static.hindawi.com/articles/mpe/volume-2014/260209/figures/260209.fig.004c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b>Up velocity</td></tr></table></td></tr></table>

<table>Curves of velocity errors.</table>

Mathematical Problems in Engineering

fig4

Figure 4

Figure 4: Kalman Filter for Cross-Noise in the Integration of SINS and DVL 