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Advances, Systems and Applications

Table 2 The MSE comparison of different methods

From: A SINS/DVL/USBL integrated navigation and positioning IoT system with multiple sources fusion and federated Kalman filter

Filter Method

East MSE (m2)

West MSE (m2)

Improved FKF

2.016 × 10−4

2.128 × 10− 4

FKF

2.340 × 10−3

2.547 × 10− 3

Improved SINS/DVL

8.324 × 10−3

7.927 × 10− 3