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

Table 4

Comparison of RMSEs under model parameters uncertainty.

RMSE	Position and orientation			Velocity
	without compensation	0.0553	0.0387	1.9386	0.0305	0.0340	1.1796
DEAC	0.0408	0.0144	0.8565	0.0174	0.0216	0.6213