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

Table 5

The performance indexes of the localization task by different transponder location noise.

The algorithms	Indexes	Error (m)
SL-RTR	RMSE	0.4559	0.4697	0.5932	0.7234	1.6093	4.0152
	MAXE	0.5919	0.6315	0.6980	0.8405	1.7699	4.1409
	MINE	0.2628	0.3264	0.3880	0.577	1.4271	3.8612
SL-STTS	RMSE	0.1175	0.1261	0.2302	0.3734	1.3499	3.7259
	MAXE	0.2053	0.2496	0.3706	0.4976	1.4972	3.857
	MINE	0.0222	0.0135	0.0231	0.2671	1.1917	3.5795
PSO-OE	RMSE	0.0578	0.0900	0.1561	0.3018	0.9805	3.2710
	MAXE	0.1163	0.2024	0.2613	0.4364	1.2310	3.4213
	MINE	0.0065	0.0169	0.0211	0.1953	0.9075	3.1085