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

Algorithm 2

Navigation filter based on UKF.

 Function UKF algorithm

 Step UKF predict

  Data:

  Result:

  ;

  ;

 end

 Step UKF update

  Data:

  Result:

 ;

  ;

  ;

  ;

  ;

  ;

 end