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 2 不同模型的参数和推理时间对比表

Tab.2 Comparison of parameters and inference time of different model

模型 Np/106 t/s 导航 填补1 填补2 TimeMixer 0.121 2.321 9.588 0.0021 TimeXer 0.023 — — 0.0033 TimesNet 0.045 0.357 0.386 0.0071 PatchTST 0.013 0.050 0.162 0.0025 iTransformer 0.014 — — 0.0019 DLinear 0.008 0.004 0.004 0.0018 NonstationTransformer 0.111 0.116 0.142 0.0047 FEDformer 0.035 0.054 0.050 0.0181 BiSN 0.095 1.396 2.496 0.0096