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

<table class="table-group" id="tab7"><tr><td><table class="table"><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr class="thead"><td class="align_left">Method</td><td class="align_center">KF</td><td class="align_center">RCKF</td><td class="align_center">MCKF</td></tr><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr><td class="align_left">Mean(m)</td><td class="align_center">58.961074</td><td class="align_center">8.799295</td><td class="align_center">6.696143</td></tr><tr><td class="align_left">RMS(m)</td><td class="align_center">64.894761</td><td class="align_center">10.122420</td><td class="align_center">8.172177</td></tr><tr class="table-tr"><td colspan="4"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Mean and RMS of the horizontal position errors in three methods.</div>

Mathematical Problems in Engineering

tab7

Table 7

Table 7: Huber’s M-Estimation-Based Cubature Kalman Filter for an INS/DVL Integrated System 