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The ocean environment is complex and changeable because of all kinds of noise interferences, such as salt cliffs, ships around and other electromagnetic interferences, so the measurement information is prone to be lost. It is difficult to describe the complex noise and the acquisition probability of measurement information. In this paper, a continuous discrete variational Bayesian filter (CD VBF) is proposed to solve the problems of the heavy tailed noises and measurement random loss for state estimation. The variational Bayesian (VB) approach can effectively estimate the state vector, scale matrices, degree of freedom (DOF) parameters, Bernoulli random variables and the acquisition probability of measurement information. The performances of the proposed algorithm and traditional algorithms are tested in simulations and underwater experiments. The simulation results illustrate that the CD VBF has better localization accuracy and robustness. The experimental results demonstrate that the localization accuracy is improved by CD VBF and an optimal solution of iteration number is acquired.

A Novel Nonlinear Algorithm for Non-Gaussian Noises and Measurement Information Loss in Underwater Navigation