Optimal Position and Velocity Estimation for Multi-USV Positioning Systems with Range Measurements

Table 4

The max and average estimation errors.

Error	Optimal formation		General formation
	Max	Average	Max	Average
	1.50	0.46	3.04	0.62
	1.73	0.47	6.14	1.10
	0.90	0.33	2.03	0.60
	0.097	0.033	0.168	0.045
	0.102	0.034	0.367	0.078
	0.082	0.024	0.199	0.044