An Adaptive UKF Based SLAM Method for Unmanned Underwater Vehicle

Table 3

Change law of system noise.

Test	Value of 𝑄
Time-varying noise test	𝑄𝑘=diag([9𝑒−61𝑒−68𝑒−53𝑒−59𝑒−61𝑒−68𝑒−63𝑒−6])1<𝑘<320diag([9𝑒−51𝑒−58𝑒−33𝑒−39𝑒−41𝑒−48𝑒−53𝑒−5])320≤𝑘<640diag([9𝑒−51𝑒−58𝑒−43𝑒−49𝑒−41𝑒−38𝑒−43𝑒−4])640≤𝑘<820
Constant noise test	𝑄𝑘=diag([5𝑒−65𝑒−65𝑒−49𝑒−32𝑒−42𝑒−44𝑒−44𝑒−4])