Real-Time Disturbances Estimating and Compensating of Nonlinear Dynamic Model for Underwater Vehicles

Table 2

Comparison of RMSEs under sinusoidal disturbances.

RMSE	Position and orientation			Velocity
	without compensation	0.0414	0.0271	0.8041	0.0208	0.0302	1.011
DEAC	0.0345	0.0102	0.4891	0.0139	0.0174	0.5960