A Single-Way Ranging Localization of AUVs Based on PSO of Outliers Elimination

Figure 7

The root mean square error of different noise levels in the second experiment: ((a), (b)) RMSE versus variance of distance measurement noise; ((c), (d)) RMSE versus variance of time measurement noise, set ; ((e), (f)) RMSE versus variance of angle measurement noise, set . The only difference is that the current is not taken into account in (a), (c), and (e).

(a)

(b)

(c)

(d)

(e)

(f)