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Aiming at the problem that the navigation performances of unmanned underwater vehicle (UUV) may be affected by inaccurate prior navigation information and external environmental interference, which may make the accuracy and reliability of strapdown inertial navigation system (SINS) and global position system (GPS) integrated navigation results worse, positioning divergent and system even invalid, an adaptive H-infinite kalman filtering algorithm based on multiple fading factors (MAHKF) is proposed in this paper. Firstly, the time-varyin
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