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

Table 4

Experimental scenarios and obtained test data for the course tracking of the M-AUV.

N^o	Desired course angle (deg)	Mean transferring speed (m/s)	Duration for the stabilized course (s) (with the EKF)	Duration for the stabilized course (s) (with the UKF)
1	010	1.0	6.4	6.2
2	010	1.5	5.7	5.6
3	020	1.0	6.7	6.5
4	020	1.5	6.0	6.0
5	030	1.0	7.7	7.6
6	030	1.5	6.6	6.4