Figure 2
The figure is arranged as a 3 by 2 grid of line plots, each comparing four curves: “in this paper” (blue solid line), “in open square bracket 18close square bracket ” (orange solid line), “in open square bracket 29close square bracket ” (yellow solid line), and “reference” (red dashed line). All plots share a Time (seconds) on the horizontal axis from 0 to 10 seconds. The left column presents position errors (x, z, and pitch), and the right column presents position y error, angle roll error, and angle yaw error. In the top-left subplot, the vertical axis is labeled Position x (meters). The curves begin near positive values around 10 meters, decrease, and oscillate with two major peaks at 3 seconds and 9 seconds, and troughs at 0.5 seconds and 6.5 seconds before converging toward zero around 10 seconds. The top-right subplot shows Position y (meters). Each curve starts near 5 meters, then decays with oscillatory motions, crossing zero at different times. The middle-left subplot shows Position z (meters). The curves start near 5 meters and monotonically decay toward zero with no oscillations, converging by approximately 5 seconds. The reference curve begins at zero meters on the vertical axis and decreases to 10 seconds on the horizontal axis. The middle-right subplot is labeled Angle roll (degree). The curves begin near 1 degree, descend toward zero, and the red curve displays the largest oscillations. A small inset at roughly 5.8 to 7.4 seconds zooms in on the residual oscillations, which appear at amplitudes around plus or minus 0.01 degrees. In the bottom-left subplot, the vertical axis is Angle pitch (degrees). All curves start nearly at 1 degree, then rapidly decay toward zero. A small inset focuses on the narrow region from about 6.6 to 7.4 seconds, showing minor oscillations on the order of plus or minus 0.01 degrees. The bottom-right subplot shows Angle yaw (degrees). All curves start from zero and rise steadily. The blue and orange curves rise fastest toward values between 80 degrees and 100 degrees, the yellow curve ascends more slowly, and the red dashed reference line remains at a constant high value near 90°. Note: All numerical data values are approximated.Six degrees of freedom state trajectory