Table 4 Comparison of RMSE index of three relative positioning algorithms
From: A cluster positioning architecture and relative positioning algorithm based on pigeon flock bionics
Node pair | RMSE / m | ||
|---|---|---|---|
INS | EKF | Proposed | |
\({{\varvec{\varepsilon}}}_{12}\) | 130.76 | 60.63 | 11.45 |
\({{\varvec{\varepsilon}}}_{13}\) | 262.30 | 131.13 | 8.60 |
\({{\varvec{\varepsilon}}}_{23}\) | 132.06 | 67.38 | 8.96 |