Research Article
A Single-Way Ranging Localization of AUVs Based on PSO of Outliers Elimination
Table 6
The performance indexes of the localization task by different distance measurement noise level, where two transponders failed.
| The algorithms | Indexes | Error (m) |
| SL-RTR | RMSE | 0.4475 | 0.4408 | 0.4718 | 0.5743 | 1.3413 | 4.3516 | MAXE | 0.4695 | 0.5046 | 0.6855 | 0.9845 | 2.9233 | 9.2810 | MINE | 0.4263 | 0.3694 | 0.3098 | 0.1780 | 0.2130 | 0.4627 |
| SL-STTS | RMSE | 0.0650 | 0.0724 | 0.1502 | 0.3863 | 1.2818 | 4.3283 | MAXE | 0.0866 | 0.1249 | 0.3401 | 0.6659 | 2.6442 | 8.9310 | MINE | 0.0186 | 0.0314 | 0.0478 | 0.0816 | 0.3027 | 0.4491 |
| PSO-OE | RMSE | 0.0237 | 0.0449 | 0.1096 | 0.2997 | 0.9593 | 3.3533 | MAXE | 0.0478 | 0.0923 | 0.2136 | 0.5223 | 2.0539 | 6.5690 | MINE | 0.0098 | 0.0170 | 0.0259 | 0.0483 | 0.3870 | 0.4943 |
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