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.本研究数据集文件夹包含两个核心子文件夹，分别为"exper1"与"exper2"，两个文件夹均存储了本研究相关的实验数据与实验结果。"exper1"文件夹对应第五章B节所论述的实验结果，专用于存储自主水下航行器（Autonomous Underwater Vehicle，下称AUV）沿常规路径航行时的定位结果数据。该文件夹共计包含31个文件，其中1个文件存储真实轨迹数据，记录了实验过程中AUV的实际航行路径；剩余30个文件为对照实验结果集，对于理解AUV在常规路径条件下的定位性能与定位精度具有重要价值。与之类似，"exper2"文件夹包含对应第五章C节的另一组实验数据，该组实验结果聚焦于AUV沿非规则路径航行时的定位任务。与"exper1"文件夹一致，"exper2"文件夹同样包含31个文件：其中1个文件存储真实轨迹数据，记录了AUV在实验中行驶的实际非规则航行路径；剩余30个文件为对照实验数据集，对于分析AUV在更为复杂且不可预测的路径条件下的定位任务表现至关重要。