基于频域双维协同特征的AUV多传感器融合导航

韦超,陈凌峰,王雨农,鲁仕博,徐元欣

Bispectral synergetic feature-based multi-sensor fusion navigation for AUV

Chao WEI,Lingfeng CHEN,Yunong WANG,Shibo LU,Yuanxin XU

表 1 各模型在仿真数据集上导航与填补任务的精度对比

Tab.1 Accuracy comparison of models on navigation and imputation tasks using simulation dataset

模型 导航 填补1(96步长) 填补2(196步长) RMSE MAE MSE MAE MSE MAE TimeMixer 0.2063 0.1441 0.0034 0.0086 0.0098 0.0290 TimeXer 0.6114 0.5154 — — — — TimesNet 0.1665 0.0942 0.0009 0.0097 0.0054 0.026 0 PatchTST 0.1889 0.1297 0.001 0 0.0101 0.0023 0.0162 iTransformer 0.454 0 0.2831 — — — — DLinear 0.2073 0.1513 0.1066 0.1503 0.1162 0.1576 NonstationTransformer 0.167 0 0.0985 0.0076 0.0250 0.0098 0.0338 FEDformer 0.2303 0.1689 0.0101 0.0275 0.0344 0.053 0 BiSN 0.1444 0.0686 0.0004 0.0077 0.001 0 0.0121