An Iterative Doppler Velocity Log Error Calibration Algorithm Based on Newton Optimization

Table 4

Root mean square errors of calibration results.

	EKF	Gradient descent	Newton
Scale factor	0.0065	2.93e − 04	2.93e − 04
Pitch	0.0067	0.0014	6.52e − 04
Roll	0.4224	2.81e − 05	1.24e − 05
Yaw	0.0081	0.0017	7.90e − 04