A Fusion Localization Algorithm with Adaptive Kalman Gain for Port Container Seamless Positioning

Table 1

and vary in response to perturbations that vary both in magnitude and duration.

	290	291	292	293	294	295	296	297	298	299	300
(m)	1.6524	0.3075	2.3920	0.3958	0.2274	1.6828	2.2054	1.2874	1.1056	1.0967	0.2424
	-0.5862	0.4639	-0.7740	0.3720	0.5170	-0.5864	-0.7432	-0.2997	-0.1946	-0.1839	0.5133
	0.0035	0.0034	0.0034	0.0034	0.0034	0.0034	0.0034	0.0034	0.0034	0.0034	0.0033
	0.0014	0.0050	0.0008	0.0047	0.0052	0.0014	0.0009	0.0024	0.0027	0.0027	0.0051