Research Article
A Model-Driven Realization of AUV Controllers Based on the MDA/MBSE Approach
Table 5
Comparison of the path tracking error between the two cases using the EKF and UKF algorithms.
| | Paths generated by WPs | Using the EKF algorithm | Using the EKF algorithm | | RMS position error (m) | Peak value (m) | RMS position error (m) | Peak value (m) | | East direction | North direction | East direction | North direction | East direction | North direction | East direction | North direction |
| | WP0-WP1 | 2.9296 | 3.1850 | 3.0982 | 3.5367 | 2.7036 | 3.0876 | 2.9207 | 3.4398 | | WP1-WP2 | 1.9599 | 4.1774 | 2.3279 | 5.3946 | 1.7465 | 2.1935 | 2.3279 | 2.8723 | | WP3-WP4 | 2.1686 | 2.7848 | 2.3864 | 3.1895 | 2.0754 | 2.6527 | 2.2675 | 2.0894 | | WP3-WP4 | 2.2597 | 3.8406 | 2.6073 | 5.0781 | 2.0532 | 2.0921 | 2.2793 | 2.7260 | | WP4-WP0 | 1.7650 | 1.5892 | 1.9934 | 1.7892 | 1.7270 | 1.5573 | 1.9874 | 1.7674 |
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