A Quadratic Interpolation-Based Variational Bayesian Algorithm for Measurement Information Lost in Underwater Navigation

Table 1

The pseudocode of the proposed algorithm.

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Pseudocode

Input:, ,

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LIP method:

Time update:

Variational Bayesian measurement update initialization:

, , , , , .

Variational Bayesian measurement estimation: for l = 0: NVB-1

The parameters of :

The parameters of :

The expectations of and are calculated:

The state vector and error covariance matrix :

end

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Output:, .

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