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.