Table 3.
Statistical analysis of information fusion with KF, AKF, and NavUSV.
| Algorithm | Target | East Position | North Position | East Velocity | North Velocity | Horizontal Error |
|---|---|---|---|---|---|---|
| /m | /m | /(m/s) | /(m/s) | /m | ||
| KF | RMSE | 1.0223 | 1.2892 | 0.1473 | 0.0886 | 1.4362 |
| SD | 1.1678 | 2.4039 | 0.7210 | 0.7011 | 1.6373 | |
| MAX | 1.9876 | 3.1923 | 0.4969 | 0.2877 | 3.4387 | |
| ε | - | - | - | - | 0.1243 | |
| AKF | RMSE | 0.9915 | 0.9203 | 0.0569 | 0.0727 | 1.2249 |
| SD | 0.8543 | 1.6094 | 0.2534 | 0.4314 | 1.0761 | |
| MAX | 2.0592 | 4.5312 | 0.1098 | 0.1599 | 3.7086 | |
| ε | - | - | - | - | 0.0968 | |
| NavUSV | RMSE | 0.3380 | 0.7241 | 0.0331 | 0.0188 | 0.9462 |
| SD | 0.5819 | 0.3067 | 0.1738 | 0.1374 | 0.9019 | |
| MAX | 0.6584 | 1.9537 | 0.0821 | 0.0359 | 2.2197 | |
| ε | - | - | - | - | 0.0822 |