Bayesian-based Robust Autonomous Positioning for Autonomous Underwater Vehicles

The file “marine_data.mat” is the data from the marine experiment, including data from different navigation and positioning sensors. The file “lake_data.mat” is the data from the lake experiment, including data from different navigation and positioning sensors.

The meaning and explanation for each column in the file “lake_data.mat” is shown as below:

Acc_x is the x-axis acceleration of the surface vehicle.

Acc_y is the y-axis accelerationof the surface vehicle.

Acc_z is the z-axis acceleration of the surface vehicle.

Gyro_x is the x-axis angular velocity of the surface vehicle.

Gyro_y is the y-axis angular velocity of the surface vehicle.

Gyro_z is the z-axis angular velocity of the surface vehicle.

Longitude_GPS is the longitude of the surface vehicle measured by GPS.

Latitude_GPS is the latitude of the surface vehicle measured by GPS.

Altitude_GPS is the altitude of the surface vehicle measured by GPS.

Vel_N_GPS is the velocity of north direction of the surface vehicle measured by GPS.

Vel_E_GPS is the velocity of east direction of the surface vehicle measured by GPS.

Vel_D_GPS is the velocity of down direction of the surface vehicle measured by GPS.

Latitude_R is the real latitude of the surface vehicle.

Longitude_R is the real longitude of the surface vehicle.

Altitude_R is the real altitude of the surface vehicle.

Pitch_R is the real pitch of the surface vehicle.

Roll_R is the real roll of the surface vehicle.

Yaw_R is the real yaw of the surface vehicle.

Vel_N_R is the real velocity of north direction of the surface vehicle.

Vel_E_R is the real velocity of east direction of the surface vehicle.

Vel_D_R is the real velocity of down direction of the surface vehicle.

The meaning and explanation for each column in the file “marine_data.mat” is shown as below:

Acc_x is the x-axis acceleration of the ship.

Acc_y is the y-axis accelerationof the ship.

Acc_z is the z-axis acceleration of the ship.

Gyro_x is the x-axis angular velocity of the ship.

Gyro_y is the y-axis angular velocity of the ship.

Gyro_z is the z-axis angular velocity of the ship.

Longitude_GPS is the longitude of the ship measured by GPS.

Latitude_GPS is the latitude of the ship measured by GPS.

Altitude_GPS is the altitude of the ship measured by GPS.

Vel_N_GPS is the velocity of north direction of the ship measured by GPS.

Vel_E_GPS is the velocity of east direction of the ship measured by GPS.

Vel_D_GPS is the velocity of down direction of the ship measured by GPS.

Latitude_R is the real latitude of the ship.

Longitude_R is the real longitude of the ship.

Altitude_R is the real altitude of the ship.

Pitch_R is the real pitch of the ship.

Roll_R is the real roll of the ship.

Yaw_R is the real yaw of the ship.

Vel_N_R is the real velocity of north direction of the ship.

Vel_E_R is the real velocity of east direction of the ship.

Vel_D_R is the real velocity of down direction of the ship.