# Five-State Extended Kalman Filter for Estimation of Speed over Ground (SOG), Course over Ground (COG) and Course Rate of Unmanned Surface Vehicles (USVs): Experimental Results

> Research article (Sensors, 2021) · cited 25× · AI/ML

**Wikidata**: [openalex:W3216287542](https://www.wikidata.org/wiki/openalex:W3216287542)  
**Source**: https://4ort.xyz/entity/five-state-extended-kalman-filter-for-estimation-of-speed-over-ground-sog-course-over-ground-cog-and-course-rate-of-unma