Terrain Matching Localization for Underwater Vehicle Based on Gradient Fitting

Table 1

Parameters and MAE of direction gradient fitting.

Region		1	2	3	4	5	6	7
Parameters	μ	1.0742	0.9434	0.9828	1.0229	0.8960	1.0427	0.8773
	σ	0.0874	0.1671	0.1010	0.1324	0.1886	0.1289	0.2354
	a	69.602	31.886	41.458	78.289	32.975	94.024	13.608
	b	64.796	33.800	42.185	76.535	36.802	90.178	15.512
	λ	1.1293	1.0034	1.0402	1.0752	0.9563	1.0901	0.9528
		9.4194	7.8748	8.0858	8.6665	7.1263	10.1016	5.4273
	Normal	0.2025	0.3192	0.3061	0.2108	0.3784	0.1589	0.3657
	Gamma	0.2253	0.3953	0.3702	0.1852	0.4458	0.1760	0.4407
	Weibull	0.2180	0.2214	0.2635	0.3691	0.3196	0.2533	0.3002