A Novel Statistical Similarity Measure-Based Outlier-Robust Cubature Kalman Filtering Framework Applied for Underwater Vehicle

These data is state estimation accuracy of the proposed algorithm.These data includes the position estimation accuracy and velocity estimation accuracy of the algorithm.The data are explained below:rmse_ckf_1 and rmse_ckf_2 are the position accuracy and speed accuracy of CKF，respectively.rmse_ukf_1 and rmse_ukf_2 are the position accuracy and speed accuracy of UKF，respectively.rmse_ssmckf1_2 and rmse_ssmckf1_2 are the position accuracy and speed accuracy of SSM-RCKF when the similarity function is selected as exponentiac function, respectively.rmse_ssmckf2_2 and rmse_ssmckf2_2 are the position accuracy and speed accuracy of SSM-RCKF when the similarity function is selected as logarithmic function, respectively.rmse_ssmckf3_2 and rmse_ssmckf3_2 are the position accuracy and speed accuracy of SSM-RCKF when the similarity function is selected as square-roots function, respectively.