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

Table 3

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

The algorithms	With current	Indexes	Error (m)
SL-RTR	No	RMSE	0.4281	0.4301	0.6281	1.0118	2.5554	5.4386
		MAXE	0.5277	0.5255	0.836	1.3430	3.1876	7.5779
		MINE	0.3196	0.1818	0.0407	0.0847	0.1889	0.9865
	Yes	RMSE	0.4352	0.4670	0.7001	1.1680	2.7793	6.1894
		MAXE	0.5436	0.5120	0.8558	1.4202	3.3948	8.9425
		MINE	0.341	0.1883	0.0551	0.0981	0.2189	1.1733
SL-STTS	No	RMSE	0.0638	0.1545	0.3888	0.9521	2.3790	5.4477
		MAXE	0.1245	0.2871	0.5028	1.1747	2.8768	8.1081
		MINE	0.0188	0.0256	0.0731	0.1543	0.2863	0.8151
	Yes	RMSE	0.0737	0.1697	0.4356	1.0346	2.5611	6.2015
		MAXE	0.1345	0.2927	0.5471	1.3098	3.1085	9.1164
		MINE	0.0213	0.0302	0.0977	0.1960	0.3283	0.9877
PSO-OE	No	RMSE	0.0414	0.1144	0.2981	0.8265	2.2672	5.2514
		MAXE	0.0982	0.1965	0.4385	1.1231	3.0361	8.8767
		MINE	0.0180	0.0259	0.0863	0.1805	0.3230	0.9246
	Yes	RMSE	0.0420	0.1131	0.2953	0.7958	2.1514	5.1646
		MAXE	0.1129	0.2037	0.4173	1.0574	2.8796	8.3295
		MINE	0.0135	0.0236	0.0675	0.1527	0.2769	0.7933