Fig. 6

Performance of depth-only model (left) compared to 24 different likelihood and tag resolution treatments. Higher performance is indicated by a lower mean absolute error (MAE) between estimated and known (simulated) locations for each of the 1000 trajectories. To assist in visual comparisons, horizontal dashed lines indicate the minimum (black), median (blue), 95% quantile (magenta), and maximum (red) MAE values observed for the depth-only treatment. Yellow diamonds indicate MAE 95% quantile values for each treatment. Treatment types are separated by thick vertical lines; within each treatment, V = very high, H = high, M = medium, and L = low tag measurement resolution. Fine-scale and coarse-scale indicate which map was used for the treatment, and variance specification method is indicated by “aggregated” (Fig. 4a), “anomaly” (Fig. 4d), “constant” (165 nT for each grid cell), “roughness” (Fig. 4b), and “slope” (Fig. 4c)