Huber’s M-Estimation-Based Cubature Kalman Filter for an INS/DVL Integrated System

Table 1

Mean of attitude, velocity, and position errors in three methods.

Method	Attitude	Attitude	Attitude	Velocity	Velocity	Velocity	Position	Position	Position
	(pitch); (°)	(roll); (°)	(yaw); (°)	(E); (m/s)	(N); (m/s)	(U); (m/s)	(E); (m)	(N); (m)	(U); (m)
KF	0.004693	0.004046	0.149095	0.069577	0.063926	0.053485	13.626503	26.224701	54.782361
RCKF	0.002837	0.002679	0.091591	0.044387	0.038262	0.009335	10.176103	11.871016	2.485870
MCKF	0.001770	0.001501	0.090068	0.018887	0.013475	0.007006	5.752577	8.836724	2.479304