Research Article
Huber’s M-Estimation-Based Cubature Kalman Filter for an INS/DVL Integrated System
Table 5
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 | 0.053206 | 0.050538 | 0.084451 | 0.047838 | 0.058714 | 0.060990 | 58.039831 | 7.212915 | 12.061803 | RCKF | 0.052009 | 0.050092 | 0.081970 | 0.015309 | 0.030779 | 0.030492 | 7.863441 | 3.687310 | 1.131346 | MCKF | 0.051748 | 0.049873 | 0.080871 | 0.012343 | 0.013510 | 0.020484 | 5.995487 | 2.717509 | 1.097752 |
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