When testing an error state extended Kalman filter for navigation using IMU and DVL, there are several sanity checks that can be used to ensure that the filter is working correctly. Some of these checks include:

These are just a few examples of the types of sanity checks that can be used to test an error state extended Kalman filter for navigation using IMU and DVL. It's important to tailor your testing approach to the specific requirements of your application and to ensure that the filter is thoroughly tested before it is deployed in a real-world environment.

Hi Nadav. A good way to check your method and algorithm is to test it on a relatively simple simulation problem, where you know the answers (states) that you are trying to estimate. Add the noise etc in the simulation and check that the filter seems to work right. Once you’re confident it’s working, you can apply it to the real world problems.