Table 2.

TAUV 6DOF simulation and navigation parameters.

Parameter	Value
Time duration	250 (s)
AUV velocity	2 (m/s)
Accelerometer bias	0.5 (mg/h)
Gyro bias	3 (°/h)
Accelerometers noise	0.072 (m/s/√h)
Gyro noise	0.34 (°/√h)
Accelerometer bias random walk	$1\times {10}^{-5} \left(m/s^2/\sqrt{s}\right)$
Gyro bias random walk	$2.8\times {10}^{-5}$(°/s$/\sqrt{s}$)
Position initial error	north: 2 (m), east: 2 (m), height: 2 (m)
Velocity initial error	u: 0.05 (m/s) × v: 0.05 (m/s) × w: 0.05 (m/s)
Attitude initial error	Yaw: 1.14 (°) roll/pitch: 0.57 (°)
IMU rate	150 (Hz)
DVL rate	1 (Hz)
DVL noise	0.042 (m/s)
DVL bias	0.005 (m/s)
DVL bias random walk	$5\times {10}^{-5}$(m/s/√s)
DVL scale factor	0.7 (%)
DVL scale factor random walk	$5\times {10}^{-3}$(%/√s)
Magnometer noise	Yaw: 5.72 (°) × roll/pitch: 1.15 (°)
Pressure sensor noise	194 (Mpa)
Magnometer rate	0.5 (Hz)
Pressure sensor rate	0.25 (Hz)