Design and Development of a Littoral AUV for Underwater Target Localization and Homing Using Vision and SONAR Module

Table 3

Sonar module results for a pinger.

Initial range (meters)	Estimated range (meters)	∣Percentage error∣
29.274	29.136	0.47
42.025	42.036	0.026
17.979	17.907	0.4
11.585	11.671	0.74
36.003	35.894	0.3