ResearchBenchmarksUnderwater Positioning on Underwater Positioning Z-axisFollow0.0304MAE (Z-axis)AEKF0.0293040.0367020.04410.051498Dec 12, 2025Evaluation ResultsMethodMethodLinksMAE (Z-axis)ME (Z-axis)SD (Z-axis)RMSE (Z-axis)AEKFCondition=DVL outageCondition=DVL outage2025.120.03040.08230.00110.0386EKFCondition=DVL outageCondition=DVL outage2025.120.04850.10650.00350.0589DRCondition=DVL outageCondition=DVL outage2025.120.05780.33340.00630.0804