An Improved Adaptive Kalman Filter for Underwater SINS/DVL System

<table class="table-group" id="tab5"><tr><td><table class="table"><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr class="thead"><td class="align_left"> </td><td class="align_center">SHAKF</td><td class="align_center">ISHAKF</td></tr><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr><td class="align_left">ΔP<sub>N</sub> (m)</td><td class="align_center">49.68</td><td class="align_center">30.85</td></tr><tr><td class="align_left">ΔP<sub>E</sub> (m)</td><td class="align_center">8.38</td><td class="align_center">8.35</td></tr><tr><td class="align_left">ΔP<sub>U</sub> (m)</td><td class="align_center">4.37</td><td class="align_center">3.05</td></tr><tr class="table-tr"><td colspan="3"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Maximum absolute error (MAE) for two methods.</div>

Mathematical Problems in Engineering

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Table 5

Table 5: An Improved Adaptive Kalman Filter for Underwater SINS/DVL System 