Research Article
Marginalized Point Mass Filter with Estimating Tidal Depth Bias for Underwater Terrain-Aided Navigation
Table 2
The mean and minimum and maximum of terminal horizontal position error for 50 Monte Carlo runs with different tidal depth biases in area A.
| Tidal depth bias (m) | Methods for TAN | Mean of terminal horizontal position error (m) | Range of terminal horizontal position error [min, max] (m) |
| 0 | 2-D PMF | 1.63 | [0.30, 6.30] | Marginalized PMF | 1.81 | [0.24, 5.26] |
| 1 | 2-D PMF | 8.39 | [1.68, 87.81] | Marginalized PMF | 1.73 | [0.28, 6.94] |
| 2 | 2-D PMF | 10.39 | [6.95, 15.53] | Marginalized PMF | 1.62 | [0.28, 6.94] |
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