Research Article
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 |
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