Inertial navigation and Doppler velocity log integrated navigation algorithm, adopt four fusion methods (references are attached to the main code ). It includes the generation of simulation data and information fusion.

Filename	Size	Update
INS%2BDVL\CorrectDVL_EKF.m	2923	2019-05-16
INS%2BDVL\CorrectDVL_ESKF.m	1109	2019-05-16
INS%2BDVL\CorrectDVL_ESKF1.m	1096	2019-05-17
INS%2BDVL\CorrectDVL_UKF.asv	2089	2019-05-18
INS%2BDVL\CorrectDVL_UKF.m	2076	2019-05-18
INS%2BDVL\CorrectGPS.m	701	2019-03-29
INS%2BDVL\DCM.m	389	2019-02-22
INS%2BDVL\Detr.png	142627	2019-05-09
INS%2BDVL\euler2q.m	941	2019-05-04
INS%2BDVL\eulerang.m	1553	2008-03-25
INS%2BDVL\GenAccNoise.m	2466	2019-05-08
INS%2BDVL\gendv.m	1370	1998-08-04
INS%2BDVL\GenDvlNoise.m	2198	2019-05-02
INS%2BDVL\GenGyoNoise.m	2520	2019-05-17
INS%2BDVL\Ind_Detr.png	140764	2019-05-16
INS%2BDVL\Ind_Traj.png	179838	2019-05-16
INS%2BDVL\Ind_Traj_3D.png	348879	2019-05-16
INS%2BDVL\Ind_Vn.png	247538	2019-05-16
INS%2BDVL\Main.m	29970	2019-05-20
INS%2BDVL\Monte_Carlo.m	2123	2019-05-20
INS%2BDVL\npsauv.m	10164	2019-03-30
INS%2BDVL\pic\Att.png	335516	2019-05-17
INS%2BDVL\pic\Biasa.png	241549	2019-05-17
INS%2BDVL\pic\Biasg.png	294881	2019-05-17
INS%2BDVL\pic\Detb.png	343345	2019-05-17
INS%2BDVL\pic\Detr.png	190762	2019-05-17
INS%2BDVL\pic\Detv.png	342579	2019-05-17
INS%2BDVL\pic\Ka.png	231937	2019-05-17
INS%2BDVL\pic\Kg.png	237961	2019-05-17
INS%2BDVL\pic\MSE_PO_MC_sim.png	286384	2019-05-20
INS%2BDVL\pic\Traj.png	289167	2019-05-17
INS%2BDVL\pic\Traj_3D.png	365765	2019-05-17
INS%2BDVL\PredictErrorStates.m	3387	2019-05-04
INS%2BDVL\Prediction_EKF.m	8888	2019-05-16
INS%2BDVL\Prediction_ESKF.m	5071	2019-05-17
INS%2BDVL\Prediction_ESKF1.m	4351	2019-05-19
INS%2BDVL\Prediction_UKF.asv	5314	2019-05-18
INS%2BDVL\Prediction_UKF.m	5316	2019-05-18
INS%2BDVL\q2euler.m	1485	2018-02-21
INS%2BDVL\qmult.m	174	2019-05-01
INS%2BDVL\quatern.m	1476	2019-05-02
INS%2BDVL\quatinv.m	63	2019-05-02
INS%2BDVL\R2euler.m	1290	2018-02-21
INS%2BDVL\Rquat.m	721	2019-05-16
INS%2BDVL\Rzyx.m	1519	2008-03-25
INS%2BDVL\Simulation_DVL_INS.m	14911	2019-05-17
INS%2BDVL\Smtrx.m	1305	2018-02-21
INS%2BDVL\Traj.png	216755	2019-05-09
INS%2BDVL\Traj_3D.png	288466	2019-05-09
INS%2BDVL\utchol.m	419	2017-06-23
INS%2BDVL\Vn.png	260172	2019-05-09
INS%2BDVL\pic	0	2019-07-06
INS%2BDVL	0	2019-07-06

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