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Table 7
Algorithm performance in complex interference scenarios.
| Scenario type | Interference parameters | Distance RMSE (m) | Velocity RMSE (m/s) | Tracking accuracy (%) | Track loss rate (%) | Computation time (ms) |
|---|---|---|---|---|---|---|
| Noise Interference | SNR 25 dB (Interference-free Baseline) | 1.47 ± 0.45 | 1.18 ± 0.37 | 88.19 ± 4.62 | 5.8 ± 1.2 | 36.92 ± 11.23 |
| SNR 20 dB | 1.53 ± 0.47 | 1.24 ± 0.38 | 87.35 ± 4.71 | 6.3 ± 1.3 | 37.45 ± 11.36 | |
| SNR 15 dB | 1.68 ± 0.49 | 1.32 ± 0.39 | 85.62 ± 4.83 | 7.1 ± 1.4 | 38.21 ± 11.54 | |
| SNR 10 dB | 1.87 ± 0.52 | 1.49 ± 0.41 | 82.47 ± 5.01 | 8.9 ± 1.6 | 39.57 ± 11.82 | |
| SNR 5 dB | 2.53 ± 0.61 | 2.04 ± 0.48 | 75.31 ± 5.37 | 12.7 ± 1.9 | 41.34 ± 12.15 | |
| Radar Error | Ranging Error 0.1 m (Baseline) | 1.47 ± 0.45 | 1.18 ± 0.37 | 88.19 ± 4.62 | 5.8 ± 1.2 | 36.92 ± 11.23 |
| Ranging Error 0.3 m | 1.65 ± 0.48 | 1.29 ± 0.39 | 86.43 ± 4.76 | 6.7 ± 1.3 | 37.68 ± 11.42 | |
| Ranging Error 0.5 m | 1.92 ± 0.53 | 1.45 ± 0.42 | 83.18 ± 4.95 | 8.5 ± 1.5 | 38.94 ± 11.67 | |
| Angle Measurement Error 0.1 rad (Baseline) | 1.47 ± 0.45 | 1.18 ± 0.37 | 88.19 ± 4.62 | 5.8 ± 1.2 | 36.92 ± 11.23 | |
| Angle Measurement Error 0.2 rad | 1.73 ± 0.50 | 1.38 ± 0.40 | 84.72 ± 4.89 | 7.9 ± 1.4 | 38.35 ± 11.51 | |
| Angle Measurement Error 0.3 rad | 2.08 ± 0.55 | 1.62 ± 0.44 | 80.56 ± 5.12 | 10.3 ± 1.7 | 39.82 ± 11.79 | |
| Occlusion Interference | Occlusion Rate 10% | 1.56 ± 0.46 | 1.22 ± 0.38 | 87.54 ± 4.68 | 6.1 ± 1.2 | 37.28 ± 11.31 |
| Occlusion Rate 20% | 1.79 ± 0.49 | 1.35 ± 0.39 | 85.17 ± 4.81 | 7.5 ± 1.4 | 38.56 ± 11.48 | |
| Occlusion Rate 30% | 2.04 ± 0.52 | 1.51 ± 0.42 | 82.33 ± 4.98 | 9.2 ± 1.6 | 39.73 ± 11.65 | |
| Occlusion Rate 40% | 2.31 ± 0.56 | 1.74 ± 0.45 | 78.69 ± 5.24 | 11.5 ± 1.8 | 41.29 ± 11.93 | |
| Extreme Weather | Medium Fog (Visibility 200 m) | 1.98 ± 0.18 | 1.47 ± 0.13 | 88.65 ± 1.05 | 7.89 ± 0.63 | 41.26 ± 3.78 |
| Heavy Rain (Rainfall 20 mm/h) | 2.35 ± 0.21 | 1.69 ± 0.15 | 85.32 ± 1.21 | 9.47 ± 0.75 | 43.58 ± 4.01 | |
| Strong Electromagnetic Interference (30 V/m) | 1.87 ± 0.17 | 1.35 ± 0.12 | 90.18 ± 0.93 | 6.75 ± 0.54 | 40.32 ± 3.65 |
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