Fig. 1. Relationship between b-frame and d-frame

Fig. 2. Trajectory of calibration experiment in simulation

Fig. 3. Current velocity estimation after first filtering

Fig. 4. Installation error estimation after first filtering

Fig. 5. Scale factor estimation after first filtering

Fig. 6. Current velocity residual after third filtering

Fig. 7. Installation error residual after third filtering

Fig. 8. Scale factor residual after third filtering

Fig. 9. Trajectory of calibration experiment with EML

Fig. 10. Current velocity residual in the marine experiment with EML

Fig. 11. Installation error residual in the marine experiment with EML

Fig. 12. Scale factor residual in the marine experiment with EML

Fig. 13. Position error comparison between with and without calibration in the marine experiment