A Novel Adaptive H-Infinity Cubature Kalman Filter Algorithm Based on Sage-Husa Estimator for Unmanned Underwater Vehicle

Table 1

Comparisons of the three algorithms in Case 2.

	CKF	H∞CKF	AH∞CKF
Mean error in the X-axis (m)	0.325	0.357	0.129
Mean error in the Y-axis (m)	0.345	0.369	0.074
Running time (s)	0.052	0.067	0.079