Table 3 The position accuracy and efficiency performance of different algorithms under various conditions

T1S1

205.58 ± 39.76

43.18 ± 22.55

36.45 ± 19.63

0.86 ± 0.13

0.89 ± 0.05

8.19 ± 2.23

3.39 ± 0.50

1.50 ± 0.36

2.47 ± 0.46

T1S2

208.93 ± 41.35

42.90 ± 22.79

37.51 ± 21.30

0.81 ± 0.11

0.72 ± 0.05

9.18 ± 2.43

3.59 ± 0.78

1.43 ± 0.33

1.97 ± 0.40

T2S1

304.83 ± 3.88

45.18 ± 26.39

34.44 ± 22.29

0.87 ± 0.11

1.31 ± 0.28

8.61 ± 1.33

1.43 ± 0.73

1.62 ± 0.34

2.00 ± 0.43

T2S2

305.02 ± 3.93

45.12 ± 26.90

33.94 ± 23.18

0.79 ± 0.09

1.18 ± 0.30

9.35 ± 1.50

1.54 ± 0.81

1.43 ± 0.32

1.75 ± 0.39

T3S1

220.93 ± 51.30

60.99 ± 35.14

55.27 ± 31.63

0.95 ± 0.11

1.43 ± 0.27

10.19 ± 1.42

2.10 ± 0.78

1.81 ± 0.43

2.64 ± 0.54

T3S2

223.24 ± 52.55

62.13 ± 34.07

56.40 ± 32.52

0.85 ± 0.12

1.18 ± 0.21

10.10 ± 1.56

2.28 ± 0.95

1.60 ± 0.38

2.13 ± 0.45

T4S1

217.66 ± 37.75

47.45 ± 22.56

40.90 ± 22.91

0.84 ± 0.10

1.40 ± 0.22

5.37 ± 1.99

1.85 ± 0.52

1.22 ± 0.20

1.96 ± 0.45

T4S2

217.89 ± 38.51

46.94 ± 23.08

42.87 ± 22.24

0.75 ± 0.09

1.27 ± 0.30

5.77 ± 2.26

1.93 ± 0.60

1.15 ± 0.25

1.71 ± 0.41

T5S1

235.61 ± 56.01

82.66 ± 38.87

84.52 ± 39.47

1.94 ± 0.23

2.92 ± 0.28

8.85 ± 2.84

1.70 ± 0.65

2.80 ± 0.34

5.05 ± 0.53

T5S2

237.38 ± 56.17

84.51 ± 42.95

82.69 ± 31.16

1.08 ± 0.12

4.18 ± 1.45

8.37 ± 2.79

1.65 ± 0.65

1.52 ± 0.19

3.65 ± 0.68

Average

235.60

56.11

50.50

0.97

1.65

8.40

2.15

1.61

2.53

Improvement (%)

75.76

77.99 (11.77)

–

–

96.38

99.04 (73.64)

–

–