Using Interchangeably the Extended Kalman Filter and Geodetic Robust Adjustment Methods to Increase the Accuracy of Surface Vehicle Positioning in the Coastal Zone

This paper presents a study to evaluate the comparative positioning accuracy of Surface Vehicle (SV) using Dead Reckoning (DR), Geodetic Least-Squares Adjustment (GLSA), Robust (GRA), and External Kalman Filter (EKF) methods. involved simulating results navigational measurements subject errors (including gross errors) used position SV swimming along given trajectory in vicinity three beacons. We showed an apparent increase accuracy, from approximately 9 m Root Mean Square (RMS) obtained by DR GLSA methods, 2 (RMS), achieved GRA EKF also that, interchanging it is still possible up 1.14 (RMS). However, such interchange should occur after experimentally determined limit mean error coordinates estimated method has been exceeded.