[23]中的作者以配备机械扫描成像声纳作为主要传感器的自主水下航行器为

The author in [23] took the autonomous underwater vehicle equipped with mechanical scanning imaging sonar as the main sensor as the research object, combined the Doppler speed log, the motion reference unit and the observation results based on the feature extraction line, and proposed a The method based on the smooth variable structure filter to estimate the motion of the robot and build a map in a partially structured environment has extremely high estimation accuracy and good robustness.

The authors of the study, using the autonomous underwater vehicle equipped with mechanical scanning imaging sonar as the main sensor, combined the Doppler speed log, the motion reference unit and the observations based on the feature extraction line, and proposed a method based on a smooth variable structure filter to estimate the robot's motion and build a map in a partially structured environment, with high estimation accuracy and good robustness.

In [23], the author takes the autonomous underwater vehicle equipped with mechanical scanning imaging sonar as the main sensor, combines the Doppler velocity log, motion reference unit and observation results based on feature extraction line, and proposes a method based on smooth variable structure filter to estimate the robot's motion and construct a map in a partially structured environment High estimation accuracy and good robustness.<br>