Table 5 The positioning accuracy of different algorithms for the field experiments
From: Underwater inertial error rectification with limited acoustic observations
Method | Results of the lake trial (m) a | Results of the sea trail (m) b | ||||
|---|---|---|---|---|---|---|
Track#01 | Track#02 | Track#03 | N = 10 | N = 15 | N = 20 | |
Indicated | 54.93 ± 17.31 | 98.18 ± 8.56 | 163.92 ± 22.52 | 705.74 ± 40.15 | ||
mAB-ICCP | 17.57 ± 7.15 | 4.40 ± 1.91 | 22.66 ± 11.72 | 46.53 ± 26.27 (↓93.41%) | ||
mAB-RMAN | 6.41 ± 7.06 | 6.81 ± 2.12 | 5.69 ± 2.27 | 0.53 ± 0.15 (↓99.92%) | ||
VLBL | 20.19 ± 14.27 | 29.90 ± 3.54 | 19.13 ± 16.73 | 23.32 ± 12.40 | 36.36 ± 15.93 | 45.11 ± 16.18 |
mAB-VLBL-rot | 13.91 ± 11.44 | 10.39 ± 2.42 | 16.19 ± 12.90 | 13.40 ± 7.70 | 20.31 ± 11.82 | 26.18 ± 13.01 |
mAB-VLBL | 8.69 ± 9.30 | 5.49 ± 3.44 | 8.94 ± 15.35 | 6.92 ± 6.80 | 4.50 ± 2.81 | 3.48 ± 2.81 |