FBLS-Based Fusion Method for Unmanned Surface Vessel Positioning Considering Denoising Algorithm
Round 1
Reviewer 1 Report
English looks good, but a lot of persistent mistakes can be found, like verbs in the wrong form, etc. The text must be carefully checked for these.
Some figures contradic the text. For example, in fig.1 we don't see any input from IMU to EKF.
Sections 3 and 4 must be completely rewritten. First, there are several mistakes in the formulas. Second, the text is very difficult to understand. Third, the text is a bad replica from the papers [21], [27]. By the reviewer's opinion, it suffices to describe the general idea of the algorithms, and refer for details to the cited papers.
Several local comments.
1) What is 'y' in the SVM algorithm? You don't explain that. Reading the paper, one gets the opinion that it is one value for 100 samples. Does it mean that the denoised data has 1 hz sampling rate or what? Isn't this rate too low for integrating the mechanization equations?
2) Do you really need lemma 4.1.? Your paper is about navigation and experiments, not about math, and is intended for engineers. An engineer won't understand it. Besides, when writing an integral some measure - Rieman' or Lebegue' - must be present.
3) The 'fuzzy' part of the paper is unreadable. Better drop this part completely.
4) Figure 9 looks like taken from [21], without proper citation.
5) Formula (10) doesn't make sense.
6) When talking about DWT denoising, you miss some important details. Is the threshold hard or soft? How is this threshold chosen?
Author Response
Please see the attachment.
Author Response File: 
Author Response.pdf
Reviewer 2 Report
None.
Author Response
We appreciate the positive comments from the reviewer.
Reviewer 3 Report
Dear Authors,
Please find the attached file for my comments.
Best Regards
Comments for author File: Comments.pdf
Author Response
Please see the attachment.
Author Response File: Author Response.pdf
Round 2
Reviewer 1 Report
The revised text is OK
