Cooperative localization algorithm based on adaptive fading Sage-Husa extended Kalman filter

Table 1. Cooperative localization performance comparison of three algorithms with unmatched noise covariance
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Table 1. Cooperative localization performance comparison of three algorithms with unmatched noise covariance
算法 RMSE/m ALE/m
本文算法 4.723 3.880
EM-EKF 5.747 4.724
EKF 6.254 5.009

Table 2. Cooperative localization performance comparison of three algorithms with time-varying noise covariance
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Table 2. Cooperative localization performance comparison of three algorithms with time-varying noise covariance
算法 RMSE/m ALE/m
本文算法 3.542 2.600
EM-EKF 6.119 3.992
EKF 7.262 4.896

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Mengmeng ZHOU, Bing ZHANG, Qiang ZHAO, Mengting PAN, Siyu ZUO. Cooperative localization algorithm based on adaptive fading Sage-Husa extended Kalman filter[J]. Chinese Journal of Ship Research, 2022, 17(4): 92

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Paper Information

Category: Symposium of Maritime Communication, navigation and positioning

Received: Jun. 10, 2021

Accepted: --

Published Online: Mar. 26, 2025

The Author Email:

DOI:10.19693/j.issn.1673-3185.02410

Topics

laser devices and laser physics

Lasers and Laser Optics

Laser physics

laser manufacturing

Instrumentation, Measurement and Metrology

Table 1. Cooperative localization performance comparison of three algorithms with unmatched noise covariance

Table 1. Cooperative localization performance comparison of three algorithms with unmatched noise covariance

Table 2. Cooperative localization performance comparison of three algorithms with time-varying noise covariance

Table 2. Cooperative localization performance comparison of three algorithms with time-varying noise covariance