Research Article
A Single-Way Ranging Localization of AUVs Based on PSO of Outliers Elimination
Table 4
The localization error of the localization task by different angle measurement noise level.
| The algorithms | With Current | Indexes | Error (m) |
| SL-RTR | No | RMSE | 0.4670 | 0.4549 | 0.4752 | 0.4607 | 0.4729 | 0.4662 | MAXE | 0.7283 | 0.7170 | 0.8583 | 0.8550 | 0.8233 | 0.8169 | MINE | 0.1313 | 0.1153 | 0.0878 | 0.0757 | 0.1304 | 0.1669 | Yes | RMSE | 0.5282 | 0.5488 | 0.5210 | 0.5159 | 0.5471 | 0.5493 | MAXE | 0.8241 | 0.9676 | 0.8903 | 0.8941 | 0.8846 | 1.0504 | MINE | 0.1337 | 0.1190 | 0.1049 | 0.0829 | 0.1805 | 0.1858 |
| SL-STTS | No | RMSE | 0.2531 | 0.2623 | 0.2728 | 0.3040 | 0.3888 | 0.4879 | MAXE | 0.3885 | 0.4020 | 0.4354 | 0.5745 | 0.7503 | 1.0175 | MINE | 0.0315 | 0.0344 | 0.0456 | 0.0424 | 0.0553 | 0.0528 | Yes | RMSE | 0.2717 | 0.2823 | 0.2744 | 0.3097 | 0.4179 | 0.5738 | MAXE | 0.5032 | 0.5841 | 0.5440 | 0.6563 | 0.8306 | 1.1287 | MINE | 0.0574 | 0.0384 | 0.0454 | 0.0504 | 0.0588 | 0.0429 |
| PSO-OE | No | RMSE | 0.2463 | 0.2411 | 0.2575 | 0.2451 | 0.2648 | 0.2656 | MAXE | 0.4412 | 0.4612 | 0.5195 | 0.5572 | 0.6023 | 0.8000 | MINE | 0.0423 | 0.0299 | 0.0422 | 0.0460 | 0.0569 | 0.0660 | Yes | RMSE | 0.2524 | 0.2549 | 0.2598 | 0.2574 | 0.2631 | 0.2647 | MAXE | 0.4576 | 0.4781 | 0.5238 | 0.5624 | 0.5829 | 0.8251 | MINE | 0.0541 | 0.0397 | 0.0410 | 0.0519 | 0.0585 | 0.0686 |
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