A Dynamic-Weighted Attenuation Memory Extended Kalman Filter Algorithm and Its Application in the Underwater Positioning

Table 1

Experiment data sheet of partial optimal attenuation coefficient.

Prediction error	Observation error	Forecast duration	Acceleration	Ideal attenuation coefficient^−1
0.01	0.02	30	1	1.01
0.01	0.08	30	15	1.57
0.01	0.08	30	17	1.81
0.03	0.18	70	5	1.16
0.03	0.18	70	7	1.05
0.03	0.02	30	1	1.41
0.03	0.02	30	3	2.09
0.05	0.2	30	9	1.45
0.05	0.2	30	11	1.66
0.05	0.2	70	3	1.04
0.05	0.2	70	5	1.09
0.07	0.12	170	13	1.02
0.07	0.12	170	15	1.01
0.09	0.18	150	3	1.06
0.09	0.18	150	5	1.03