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 algorithmsIndexesError (m)

SL-RTRRMSE0.44750.44080.47180.57431.34134.3516
MAXE0.46950.50460.68550.98452.92339.2810
MINE0.42630.36940.30980.17800.21300.4627

SL-STTSRMSE0.06500.07240.15020.38631.28184.3283
MAXE0.08660.12490.34010.66592.64428.9310
MINE0.01860.03140.04780.08160.30270.4491

PSO-OERMSE0.02370.04490.10960.29970.95933.3533
MAXE0.04780.09230.21360.52232.05396.5690
MINE0.00980.01700.02590.04830.38700.4943