School of Aerospace Science and Technology;
Xidian University;
Xi’an 710126;
China;
Key Laboratory of Equipment Efficiency in Extreme Environment;
Ministry of Education;
Xi’an 710126;
China;
School of Astronautics;
Harbin Institute of Technology;
Harbin 150010;
China;
Autonomous underwater vehicle(AUV); Sonar; Simultaneous localization and mapping(SLAM); Simulated annealing; FastSLAM;