Research Article
Terrain Matching Localization for Underwater Vehicle Based on Gradient Fitting
Table 2
Parameters and MAE of
direction gradient fitting.
| Region | 1 | 2 | 3 | 4 | 5 | 6 | 7 |
| Parameters | μ | 1.0119 | 0.9583 | 0.9630 | 1.0353 | 0.9164 | 1.0185 | 0.9420 | σ | 0.0773 | 0.1339 | 0.0950 | 0.1160 | 0.1457 | 0.1312 | 0.1643 | a | 79.846 | 52.816 | 43.202 | 78.720 | 59.301 | 81.237 | 16.181 | b | 78.904 | 55.114 | 44.861 | 76.036 | 64.714 | 79.759 | 17.177 | λ | 1.0612 | 1.0105 | 1.0208 | 1.0895 | 0.9659 | 1.0690 | 1.0268 | | 9.5668 | 8.9917 | 7.6033 | 8.1490 | 8.9526 | 8.8259 | 5.0442 |
| | Normal | 0.1402 | 0.2812 | 0.2700 | 0.2261 | 0.3005 | 0.1550 | 0.2183 | Gamma | 0.1529 | 0.3425 | 0.3243 | 0.1982 | 0.3566 | 0.1405 | 0.2740 | Weibull | 0.2423 | 0.2199 | 0.2594 | 0.4166 | 0.2831 | 0.3053 | 0.1812 |
|
|