An Improved Adaptive Kalman Filter for Underwater SINS/DVL System

<table class="table-group" id="tab2"><tr><td><table class="table"><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr class="thead"><td class="align_left"> </td><td class="align_center">KF</td><td class="align_center">SHAKF</td><td class="align_center">ISHAKF</td></tr><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr><td class="align_left">ΔP<sub>N</sub> (m)</td><td class="align_center">113.137</td><td class="align_center">25.816</td><td class="align_center">14.303</td></tr><tr><td class="align_left">ΔP<sub>E</sub> (m)</td><td class="align_center">57.966</td><td class="align_center">26.946</td><td class="align_center">14.559</td></tr><tr><td class="align_left">ΔP<sub>U</sub> (m)</td><td class="align_center">0.604</td><td class="align_center">1.014</td><td class="align_center">1.014</td></tr><tr class="table-tr"><td colspan="4"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

Mathematical Problems in Engineering

tab2

Table 2

Table 2: An Improved Adaptive Kalman Filter for Underwater SINS/DVL System 