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

Table 3

Comparison of RMSEs under random disturbances.

RMSE	Position and orientation			Velocity
	without compensation	0.0353	0.0192	0.9422	0.0137	0.0147	0.3963
DEAC	0.0238	0.0178	0.2552	0.0066	0.0079	0.2558