Marginalized Point Mass Filter with Estimating Tidal Depth Bias for Underwater Terrain-Aided Navigation

Table 3

The mean and minimum and maximum of terminal horizontal position error for 50 Monte Carlo runs with different tidal depth biases in area B.

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	5.44	[0.62, 14.36]
	Marginalized PMF	5.28	[1.62, 14.64]
1	2-D PMF	115.02	[8.08, 205.40]
	Marginalized PMF	5.42	[1.42, 18.96]
2	2-D PMF	224.04	[167.90, 291.68]
	Marginalized PMF	5.28	[1.62, 14.64]