A Model-Driven Realization of AUV Controllers Based on the MDA/MBSE Approach

Algorithm 1

Navigation filter based on EKF.

 Function EKF algorithm

 Step EKF predict

  Data:

  Result:

  ;

  ;

  ;

 end

 Step EKF update

  Data:

  Result:

  ;

  ;

  ;

  ;

  ;

  ;

 end