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

Table 2

The localization error of the localization task by different distance measurement noise level.

The algorithms	With current	Indexes	Error (m)
SL-RTR	No	RMSE	0.3300	0.3397	0.3773	0.5711	1.1476	3.6589
		MAXE	0.3615	0.3880	0.5499	0.8975	2.4403	5.7262
		MINE	0.2843	0.2920	0.2438	0.0850	0.3856	0.8939
	Yes	RMSE	0.3942	0.3904	0.4214	0.5272	1.1113	3.8004
		MAXE	0.4562	0.4414	0.5557	0.8022	2.5241	5.9087
		MINE	0.3592	0.3251	0.2770	0.0913	0.1631	1.1050
SL-STTS	No	RMSE	0.0203	0.0373	0.1140	0.3344	1.0994	3.6542
		MAXE	0.0650	0.0653	0.1974	0.7522	2.0986	5.6516
		MINE	0.0012	0.0093	0.0225	0.0855	0.2409	0.8670
	Yes	RMSE	0.0626	0.0665	0.1339	0.3565	1.0293	3.7895
		MAXE	0.1230	0.1096	0.2291	0.6043	2.2054	5.7935
		MINE	0.0276	0.0268	0.0251	0.1232	0.2359	1.1462
PSO-OE	No	RMSE	0.0107	0.0317	0.0943	0.3014	0.9502	3.1592
		MAXE	0.0194	0.0665	0.1527	0.4957	1.9450	4.6592
		MINE	0.0029	0.0081	0.0128	0.0768	0.1425	1.0667
	Yes	RMSE	0.0109	0.0358	0.0927	0.2937	0.8946	2.9731
		MAXE	0.0238	0.0617	0,1537	0.4837	1.8532	4.5431
		MINE	0.0011	0.0087	0.0118	0.0825	0.1537	0.9125