An Adaptive UKF Based SLAM Method for Unmanned Underwater Vehicle

Table 2

Extracted line feature parameters.

Line feature	𝜌	𝜃	Time (step)	Position of UUV in E(m)
L1	13	−0.2618	260~310	(−786.3968, −40.6424)
L2	33	0	320~370	(−949.0549, −47.3198)
L3	39	0	430~500	(−1279.0335, 47.42)
L4	15	−0.0873	570~610	(−1504.7369, 206.5273)
L5	31	−0.0873	640~720	(1449.9067, 483.5776)
L6	35	−0.2618	730~820	(−1278.9245, 649.0867)