匝间深度

偏离角

坐标

SRP定位估计

误差(cm)

MUSIC-SRP定位估计

误差(cm)

浅

0˚

(0, 60.0, −5.0)

(0, 42.3, −0.1)

18.4

(0, 56.7, −0.6)

8

15˚

(5.4, 60.0, −4.3)

(0.4, 40.9, −0.4)

20.1

(0, 65.5, −1.2)

8.3

30˚

(10.5, 60.0, −2.2)

(2.1, 38.8, −0.5)

22.9

(4, 65.4, −0.7)

8.5

45˚

(14.8, 60, 1.2)

(5.8, 36.8, 0

24.9

(6.6, 57.5, 0.6)

8.6

中

0˚

(0, 60.0, −6.0)

(0, 41.9, −0.1)

19

(0, 66.5, −0.3)

8.2

15˚

(5.7, 60.0, −5.3)

(1.4, 40.4, −1.3)

20.5

(0.8, 64.9, −0.7)

8.3

30˚

(11.0, 60.0, −3.1)

(0.1, 38.3, −0.3)

24.4

(4.3, 64.7, −0.8)

8.5

45˚

(15.6, 60.0, 0.5)

(5.3, 35.7, 0.3)

26.4

(8.1, 65.9, 0.4)

8.8

深

0˚

(0, 60.0, −7.0)

(0, 41.1, −1.1)

19.8

(0, 63.8, 0)

8

15˚

(5.9, 60.0, −6.2)

(0.4, 41.2, −0.3)

20.5

(0.8, 63.9, −0.7)

8.4

30˚

(11.5, 60.0, −3.9)

(4.1, 38.3, −0.4)

23.2

(7.9, 67.6, −0.6)

9

45˚

(16.3, 60.0, −0.3)

(5.7, 36.4, 0.1)

25.9

(8.1, 64.9, 0.4)

9.6