Advances, Systems and Applications
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