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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