First Name
Haoqian
Last Name
Huang
Dataset Entries from this Author
The attachment "serial_data_dvl_20240729.txt" presents the DVL sensor data collected during the experiment in this paper, including information such as timestamps, transducer data, and velocity. The line beginning with "wru" indicates the status and information of the four transducers. The four data points following "wrx" represent, in sequence, the time interval since the last data collection (in milliseconds), x-axis velocity, y-axis velocity, and z-axis velocity. The four numbers following "wrt" represent the distances from the four transducers to the seabed.
- Categories:
The research data folder contains two primary subfolders, namely the "exper1" and "exper2" folders. These folders hold the experimental data and results relevant to our study.
- Categories:
The file “marine_data.mat” is the data from the marine experiment, including data from different navigation and positioning sensors.
- Categories:
These data is state estimation accuracy of the proposed algorithm When the adjust factor is 1
These data includes the position estimation accuracy and velocity estimation accuracy of the algorithm.
The data are explained as follows:
rmse_ckf_1,rmse_ukf_1,rmse_vakf_1,rmse_vakfpr_1,rmse_okf_1 are the position accuracy of the CKF, UKF, the proposed IW_VACKF, VACKF_PR and CKF-TNCM, respectively.
rmse_ckf_2,rmse_ukf_2,rmse_vakf_2,rmse_vakfpr_2,rmse_okf_2 are the velocity accuracy of the CKF, UKF, the proposed IW_VACKF, VACKF_PR and CKF-TNCM, respectively.
- Categories:
translator
- Categories:
These data is state estimation accuracy of the proposed algorithm When the equivalent measurement loss probability is 0.1
These data includes the position estimation accuracy and velocity estimation accuracy of the algorithm.
The data are explained below:
save_bikf_pos_p1, save_kf_pos_p1, save_okf_pos_p1, save_bakf_pos_p1, save_vakf_pos_p1 are the position accuracy of the BKF, KF, OKF, the proposed BAKF-GIWM and the VAKF-GIWM, respectively.
- Categories:
These data is state estimation accuracy of the proposed algorithm.
These data includes the position estimation accuracy and velocity estimation accuracy of the algorithm.
The data are explained below:
rmse_ckf_1 and rmse_ckf_2 are the position accuracy and speed accuracy of CKF，respectively.
rmse_ukf_1 and rmse_ukf_2 are the position accuracy and speed accuracy of UKF，respectively.
rmse_ssmckf1_2 and rmse_ssmckf1_2 are the position accuracy and speed accuracy of SSM-RCKF when the similarity function is selected as exponentiac function, respectively.
- Categories:
A novel coarse alignment algorithm based on vector observation and truncated vectorized κ-matrix is proposed. These data is used to test the performance of the proposed alignment method.
- Categories:
These data is used to test the performance of the proposed in-motion inital alignment method.
These data includes the raw data of inertial measurement units, the raw data of GPS and the reference attitude angles.
All these data is simulated.
The frequency of inertial measurement units and GPS are 100Hz and 1Hz, respectively.
The data are explained below:
imu=[gryo;acc;time] Unit is rad; m/s; s
GPS=[lat;lon;height;ve;vn;vu]; Unit is rad; rad; m; m/s; m/s; m/s
- Categories:
1. The complex noises underwater leads to more errors for the velocities measurements of AUV so that it is difficult to determine the accurate navigation and positioning information.
The novel ariational Bayesian (VB) -based filter (VBF) is proposed and these data is used.
2. The format of data is ".mat".
- Categories:
Data (Non-Gaussian Noises and Measurement Information Loss)
- Categories:
