Table 1.

Trajectory RMSE values in meters for the 4 collected data sets from the model ship. Values are given as averages ± one standard deviation, after 100 Monte Carlo repetitions with different realisations of the simulated odometry noise.

Trajectory RMSEs	Data Set 1	Data Set 2	Data Set 3	Data Set 4
Algorithm 1	0.53 ± 0.15	0.58 ± 0.18	0.53 ± 0.24	0.98 ± 0.62
RBPF with 100 particles	0.85 ± 0.27	0.92 ± 0.26	0.95 ± 0.42	1.53 ± 0.53
RBPF with 200 particles	0.85 ± 0.22	0.89 ± 0.27	0.98 ± 0.47	1.48 ± 0.46
RBPF with 500 particles	0.87 ± 0.19	0.86 ± 0.24	1.00 ± 0.40	1.53 ± 0.50
Odometry	1.98 ± 0.54	1.52 ± 0.48	1.76 ± 0.52	1.65 ± 0.47