Open Access
Table 6
Performance results in real-world scenarios.
| Scenario | Average distance RMSE (m) (±SD) | Average velocity RMSE (m/s) (±SD) | Tracking accuracy (%) (±SD) | Computation time (ms) (±SD) | Track loss rate (%) (±SD) | Maximum distance RMSE (m) | Maximum speed RMSE (m/s) |
|---|---|---|---|---|---|---|---|
| Urban Airspace 1 | 1.82±0.17 | 1.29±0.12 | 92.47±0.85 | 43.61±4.23 | 6.92±0.58 | 2.16 | 1.53 |
| Urban Airspace 2 | 1.94±0.19 | 1.41±0.14 | 91.38±1.02 | 46.92±4.57 | 8.17±0.65 | 2.32 | 1.69 |
| Urban Airspace 3 | 2.19±0.22 | 1.53±0.15 | 90.24±1.18 | 49.83±4.89 | 9.41±0.72 | 2.63 | 1.83 |
| Urban Airspace 4 | 2.01±0.20 | 1.34±0.13 | 91.76±0.97 | 47.19±4.62 | 8.63±0.68 | 2.41 | 1.59 |
| Power Plant Protection 1 | 1.47±0.12 | 1.02±0.09 | 95.18±0.73 | 39.92±3.85 | 5.19±0.42 | 1.71 | 1.2 |
| Power Plant Protection 2 | 1.62±0.15 | 1.09±0.11 | 94.73±0.81 | 41.46±4.01 | 5.92±0.49 | 1.92 | 1.31 |
| Power Plant Protection 3 | 1.71±0.18 | 1.17±0.13 | 94.29±0.95 | 42.81±4.36 | 6.47±0.56 | 2.07 | 1.43 |
| Power Plant Protection 4 | 1.56±0.14 | 1.06±0.10 | 95.61±0.78 | 40.73±3.98 | 5.64±0.45 | 1.84 | 1.26 |
| Rural Inspection 1 | 1.28±0.10 | 0.87±0.08 | 96.82±0.56 | 36.19±3.21 | 3.92±0.31 | 1.48 | 1.03 |
| Rural Inspection 2 | 1.41±0.12 | 0.94±0.09 | 95.47±0.64 | 37.92±3.45 | 4.46±0.37 | 1.65 | 1.12 |
| Rural Inspection 3 | 1.52±0.14 | 1.01±0.11 | 94.91±0.76 | 39.27±3.68 | 5.19±0.43 | 1.8 | 1.23 |
| Rural Inspection 4 | 1.34±0.11 | 0.89±0.08 | 96.18±0.61 | 37.46±3.37 | 4.27±0.34 | 1.56 | 1.05 |
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