An Improved Adaptive Kalman Filter for Underwater SINS/DVL System

Table 1

RMSE for three methods.

	KF	SHAKF	ISHAKF
ΔVN (m/s)	0.246	0.139	0.138
ΔVE (m/s)	0.271	0.145	0.135
ΔVU (m/s)	0.061	0.058	0.056