Initial Tracking Parameter Estimation of Magnetic Ship Based on PSO

Table 2

Estimated results of initial parameters.

Voyage 1	Estimation	−75.43	3.61	2.93	−0.08	49.5
	Reference	−87.42	7.25	3.01	−0.17	40
	Error	12.01	3.64	0.08	0.09	9.5
Voyage 2	Estimation	62.07	2.01	−2.24	0.33	28.3
	Reference	74.87	−2.03	−2.23	0.11	40
	Error	12.80	4.03	0.01	0.22	11.7
Voyage 3	Estimation	−78	1.46	2.78	0.15	50.8
	Reference	−87.31	6.38	3.00	−0.10	40
	Error	9.31	4.92	0.22	0.25	10.8
Voyage 4	Estimation	65.02	3.63	−2.30	−0.12	31.6
	Reference	74.56	−0.21	−2.56	0.05	40
	Error	9.54	3.88	0.26	0.17	8.4