Parameters’ Identification of Vessel Based on Ant Colony Optimization Algorithm

Table 6

R-square values of different methods on the vessel model.

Identification error	Surge model	Sway model	Yaw model	Heading model
LS	0.9890	0.9957	0.9952	0.9964
ACO	0.8478	0.9182	0.9417	0.6804
LS	0.9106	0.9458	0.9740	0.9955
ACO	0.9476	0.9672	0.9831	0.9982
LS	0.7050	—	—	—
ACO	0.9526	0.9745	0.9784	0.9942