An Adaptive UKF Based SLAM Method for Unmanned Underwater Vehicle

<table class="table-group" id="tab4"><tr><td><table class="table"><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr class="thead"><td align="left">Algorithm</td><td align="center">Time-varying noise test (m)</td><td align="center">Constant noise test (m)</td></tr><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr><td align="left">AUKF-SLAM</td><td align="center">26.1487</td><td align="center">28.5021</td></tr><tr><td align="left">UKF-SLAM</td><td align="center">28.0639</td><td align="center">29.4876</td></tr><tr><td align="left">EKF-SLAM</td><td align="center">38.5579</td><td align="center">39.8530</td></tr><tr class="table-tr"><td colspan="3"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

Mathematical Problems in Engineering

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Table 4

Table 4: An Adaptive UKF Based SLAM Method for Unmanned Underwater Vehicle 