[1] [1] Snyder J. Doppler velocity log (DVL) navigation for observation-class ROVs［C］. OCEANS 2010, IEEE, 2010: 1-9.

[2] [2] Sui Xiaolin, Zhou Shouhuan, Zhao Hong, et al.. Research on an all-fiber structure velocity measurement coherent lidar［J］. Chinese J Lasers, 2013, 40(12):1208007.

[3] [3] Fan Zhe, Zhang Chunxi, Ou Pan, et al.. Research on beam pointing angle for three-beam Doppler vehicle lidar［J］. Chinese J Lasers, 2014, 41(2): 0214001.

[4] [4] Zhang Qiang, Sun Yao, Wan Lei, et al.. An adaptive Kalman filter algorithm for a Doppler velocity log［J］. J Harbin Engineering University. 2011, 32(12): 1534-1538.

[5] [5] Bai Hongyang, Xue Xiaozhong, Chen Shuai, et al.. The analysis of data filter for Doppler radar［J］. Fire Control & Command Control, 2011, 36(3): 89-91.

[6] [6] Ji Bingbing, Mai Peipei, Su Tao. An algorithm based on Kalman filter for locomotive speed radar［J］. Fire Control Radar Technology, 2009, 38(1): 43-47.

[7] [7] Zhu Ziqian, Hu Shiqiang. Airborne Radar Multi-Target Tracking Technology［M］. Beijing: National Defense Industry Press, 2013. 83-115.

[8] [8] Zhang Anqing, Wen Cong, Zheng Rungao. The simulation analysis of improved target tracking algorithms based on current statistical model［J］. Radar & Ecm, 2012, 32(1): 24-27.

[9] [9] Qian Guanghua, Li Ying, Luo Rongjian. One maneuvering frequency and the variance adaptive filtering algorithm for maneuvering target tracking［J］. J Radars, 2013, 2(2): 257-264.

[10] [10] Chang G. Kalman filter with both adaptivity and robustness［J］. J Process Control, 2014, 24(3): 81-87.

[11] [11] Zhou Hongren, Jing Zhongliang, Wang Peide. Tracking of Maneuvering Targets［M］. Beijing: National Defense Industry Press, 1991. 134-176.

[12] [12] Pan Quan, Liang Yan, Yang Feng, et al.. Modern Target Tracking and Information Fusion［M］. Beijing: National Defense Industry Press, 2009. 41-49.

[13] [13] Singer R A. Estimating optimal tracking filter performance for manned maneuvering targets［J］. Transactions on Aerospace and Electronic Systems, 1970, 6(4): 473-483.

[14] [14] Luo Zhibin, Liu Xianxing, Hu Zhentao, et al.. Kalman prediction algorithm restraining outliers based on innovation property［J］. J Henan University (Natural Science), 2006, 36(4): 79-82.

[15] [15] Zhou Jian, Long Xingwu. Laser Doppler velocimeter for vehicle inertial navigation system［J］. Chinese J Lasers, 2010, 37(5): 1316-1321.