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Multi-factor coupling affects the accuracy of heading deviation detection.
| Serial number | Influence factor |
Course deviationγ/° | Coefficient of variation/% | |
| Total number of ultrasonic distance sensor/pcs | Central angle /° | |||
| 1 | 5 | 5 | 0.63 | 4.0 |
| 2 | 10 | 1.25 | 5.5 | |
| 3 | 15 | 1.90 | 4.5 | |
| 4 | 7 | 5 | 0.40 | 9.5 |
| 5 | 10 | 0.80 | 8.0 | |
| 6 | 15 | 1.25 | 9.0 | |
| 7 | 9 | 5 | 0.32 | 9.0 |
| 8 | 10 | 0.63 | 9.5 | |
| 9 | 15 | 0.94 | 9.5 | |
