Improved Vessel Trajectory Prediction Model Based on Stacked-BiGRUs

Table 3

Comparison of the experimental results of different batch size parameters.

Model	Metrics	Batch size
		16	32	64	128	256
LSTM	MSE	0.00383	0.00371	0.00472	0.00611	0.0093
	MAE	0.0378	0.0363	0.0465	0.0505	0.0721
Stacked-BiLSTMs	MSE	0.00221	0.00209	0.00313	0.00422	0.00627
	MAE	0.0202	0.0194	0.0298	0.0441	0.0602
Stacked-BiGRUs	MSE	0.00184	0.00180	0.00247	0.00317	0.0544
	MAE	0.0216	0.0191	0.0207	0.0322	0.0511