Using Interchangeably the Extended Kalman Filter and Geodetic Robust Adjustment Methods to Increase the Accuracy of Surface Vehicle Positioning in the Coastal Zone
Abstract:This paper presents a study to evaluate the comparative positioning accuracy of Surface Vehicle (SV) using Dead Reckoning (DR), Geodetic Least-Squares Adjustment (GLSA), Geodetic Robust Adjustment (GRA), and External Kalman Filter (EKF) methods. This involved simulating the results of navigational measurements subject to errors (including gross errors) used to position the SV swimming along a given trajectory in the vicinity of three beacons. We showed an apparent increase in the SV positioning accuracy, from … Show more
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