Terrain Matching Localization for Underwater Vehicle Based on Gradient Fitting

Table 2

Parameters and MAE of direction gradient fitting.

Region		1	2	3	4	5	6	7
Parameters	μ	1.0119	0.9583	0.9630	1.0353	0.9164	1.0185	0.9420
	σ	0.0773	0.1339	0.0950	0.1160	0.1457	0.1312	0.1643
	a	79.846	52.816	43.202	78.720	59.301	81.237	16.181
	b	78.904	55.114	44.861	76.036	64.714	79.759	17.177
	λ	1.0612	1.0105	1.0208	1.0895	0.9659	1.0690	1.0268
		9.5668	8.9917	7.6033	8.1490	8.9526	8.8259	5.0442
	Normal	0.1402	0.2812	0.2700	0.2261	0.3005	0.1550	0.2183
	Gamma	0.1529	0.3425	0.3243	0.1982	0.3566	0.1405	0.2740
	Weibull	0.2423	0.2199	0.2594	0.4166	0.2831	0.3053	0.1812