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

Table 5

Root mean square errors of calibration results.

	EKF	Gradient descent	Newton
Scale factor	1.0e − 03	3.3e − 04	3.3e − 04
Pitch	0.09	0.01	0.01
Roll	0.89	7.2e − 04	5.6e − 04
Yaw	8.1e − 03	4.2e − 03	3.8e − 04