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

Table 6

Partial positioning residuals of the experiment.

Classical EKF (cm)	Fixed value-weighted EKF (cm)	Dynamic-weighted EKF (cm)
0.00375	0.00737	0.01669
0.00749	0.00781	0.01038
0.00768	0.01244	0.01704
0.00763	0.00809	0.01793
0.00481	0.0096	0.02078
0.01371	0.0112	0.01351
0.01061	0.0087	0.02333
0.01216	0.00308	0.0248
0.00999	0.00597	0.00506
0.00509	0.00368	0.00496
0.00997	0.00975	0.83502
0.01024	0.19844	0.636
0.00884	0.24069	0.26629
0.00957	0.20741	0.57115
0.0046	0.20537	0.91897
0.00919	0.23518	0.43999
0.00712	0.27187	0.6905
0.01101	0.22011	0.74279
0.01017	0.00513	0.36383
0.00315	0.00952	0.42225
0.00921	0.00896	0.38602
0.01096	0.00408	0.45303
0.00994	0.00485	0.55321
0.01028	0.00769	0.14301
0.01104	0.00857	0.51276
0.00257	0.00221	0.49555
0.0082	0.00345	0.34845
0.00791	0.00651	0.17873
0.00549	0.01213	0.32054
0.00311	0.00523	0.32268