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

Table 1

Statistic results of level position errors in 3501~3600 s.

	East	North	Error	Proportion of error to 𝐷
Scheme  1	−1093.5	0.8	1093.5	6.1%
Scheme  2	18794.1	41.1	18794.1	104.4%
Scheme  3	11340.2	31.3	11340.2	63.0%
Scheme  4	3731.7	19.5	3731.8	20.7%