Figure 1
The six line plots are arranged in a 3 by 2 grid. Each subplot compares four curves labeled in the legend as “in this paper” (blue solid curve), “in open square bracket 18close square bracket ” (orange solid curve), “in open square bracket 29close square bracket ” (yellow solid curve), and “reference” (red dashed curve). All subplots share a Time (seconds) on the horizontal axis from 0 to 10 seconds, and each plot tracks a different error variable over time. In the top-left subplot, the vertical axis is labeled Position x error (meter), and the legend represents x subscript e. All curves begin with positive error values near 8 to 10 meters on the vertical axis, then oscillate downward toward zero, crossing into negative values at different times, reaching a minimum of negative 4. The red reference line remains constant near zero. The top-right subplot has the vertical axis labeled Position y error (meter). The three method curves again start from high positive values near 5 meters and decay with oscillations reaching a minimum of negative 2, settling close to zero. The red reference line is flat near zero. In the middle-left subplot, the vertical axis is Position z error (meter). All method curves start from approximately 6 meters, rapidly decay toward zero without oscillation, and converge at the bottom by around 5 seconds. The reference line is again constant near zero. The middle-right subplot shows the Angle roll error (degrees). The curves begin near 1 degree, decreasing quickly toward zero, with the blue curve showing more oscillatory behavior. A small inset zooms into the time interval from approximately 4.8 to 6.1 seconds, where small high-frequency oscillations are shown for all three methods, with values on the order of 10 to negative 3 power degrees. The bottom-left subplot plots the Angle pitch error (degrees). All curves start near 1 degree, rapidly decrease toward zero, and converge by about 3 seconds. A small inset shows oscillations between 5.4 and 6.1 seconds with values around 10 to negative 3 degrees. The bottom-right subplot displays the Angle yaw error (degrees). All curves start near zero, increasing over time. The blue curve rises quickly and levels near 1 degree, the orange curve reaches a slightly higher value, and the yellow curve increases less gradually. The red reference line remains at a constant high value across the entire time axis. Note: All numerical data values are approximated.Six degrees of freedom trajectory tracking error