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

Table 6

Means of calibration results.

	EKF	Gradient descent	Newton
Scale factor	2.0e − 03	7.4e−04	7.4e − 04
Pitch	0.15	0.01	0.02
Roll	−4.35	0.22	0.03
Yaw	0.04	0.01	0.01