模型 | 垂荡 | 横摇 | 纵摇 | eMSE/ m2 | eRMSE/ m | eMAE/ m | r | eMSE/ (°)2 | eRMSE/ (°) | eMAE/ (°) | r | eMSE/ (°)2 | eRMSE/ (°) | eMAE/ (°) | r | CNN-LSTM | 0.067 2 | 0.259 3 | 0.215 1 | 0.963 8 | 0.038 2 | 0.195 3 | 0.166 5 | 0.953 4 | 0.190 8 | 0.436 8 | 0.355 5 | 0.975 1 | LSTM | 0.151 1 | 0.388 7 | 0.318 3 | 0.831 8 | 0.078 2 | 0.269 9 | 0.214 3 | 0.873 1 | 0.362 5 | 0.602 1 | 0.487 0 | 0.937 2 | GRU | 0.155 8 | 0.394 7 | 0.323 7 | 0.829 9 | 0.072 2 | 0.208 8 | 0.212 0 | 0.874 1 | 0.361 7 | 0.601 4 | 0.488 0 | 0.937 3 |
|