Research Article

An Iterative Doppler Velocity Log Error Calibration Algorithm Based on Newton Optimization

Table 3

Means of calibration results.

EKFGradient descentNewton

Scale factor9.55e − 04−3.15e − 04−3.15e − 04
Pitch−0.0135−0.0076−0.006
Roll1.56730.20960.2098
Yaw−0.00890.00150.0016