A Novel Sonar Image Preprocessing Method for AUV Positioning Based on Underwater SLAM

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.The "exper1" folder is dedicated to the experimental results discussed in Article V.B. Specifically, it contains data on the positioning results of an AUV following a regular path. This folder is comprehensive, including a total of 31 files. Among these, there is one file that contains the real trajectory data, providing the actual path taken by the AUV during the experiment. The remaining 30 files are a collection of comparative experimental results, which are crucial for understanding the performance and accuracy of the AUV's localization under regular path conditions.  Similarly, the "exper2" folder contains another set of data pertaining to Article V.C. This set of experimental results focuses on the localization of the AUV when it follows irregular paths. Like the "exper1" folder, the "exper2" folder also contains a total of 31 files. This includes one file with the real trajectory data, which records the actual irregular path taken by the AUV. The remaining 30 files in this folder are comparative experimental data, which are essential for analyzing how the AUV performs localization tasks under more complex and unpredictable path conditions.