多机协同导航的自适应EKF-SLAM算法

IF 2.2 4区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

IET Control Theory and Applications Pub Date : 2024-10-14 DOI:10.1049/cth2.12750

Wei Chen, Shan Jiang, Jiarong Cao, Ruisheng Sun

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引用次数: 0

摘要

针对多机协同导航问题，提出了一种非固定地标的自适应EKF-SLAM算法。首先，建立了飞行器运动模型和角度测量模型；其次，建立了固定地标协同EKF-SLAM算法；在此基础上，设计了分布式EKF-SLAM算法。然后，提出了不固定地标的自适应EKF-SLAM算法。最后，仿真结果验证了该算法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

An adaptive EKF-SLAM algorithm for cooperative navigation of multi-aircrafts

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An adaptive EKF-SLAM algorithm for cooperative navigation of multi-aircrafts

Aiming at cooperative navigation of multi-aircrafts, an adaptive EKF-SLAM algorithm for non-fixed landmark is proposed. First, the aircraft motion model and angle measurement model are established. Second, the fixed landmark cooperative EKF-SLAM algorithm is established. Furthermore, a distributed EKF-SLAM algorithm is designed. Then, the adaptive EKF-SLAM algorithm with non-fixed landmark is proposed. Finally, simulation results verify the effectiveness of the proposed algorithm.

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来源期刊

IET Control Theory and Applications 工程技术-工程：电子与电气

CiteScore

5.70

自引率

7.70%

发文量

167

审稿时长

5.1 months

期刊介绍： IET Control Theory & Applications is devoted to control systems in the broadest sense, covering new theoretical results and the applications of new and established control methods. Among the topics of interest are system modelling, identification and simulation, the analysis and design of control systems (including computer-aided design), and practical implementation. The scope encompasses technological, economic, physiological (biomedical) and other systems, including man-machine interfaces. Most of the papers published deal with original work from industrial and government laboratories and universities, but subject reviews and tutorial expositions of current methods are welcomed. Correspondence discussing published papers is also welcomed. Applications papers need not necessarily involve new theory. Papers which describe new realisations of established methods, or control techniques applied in a novel situation, or practical studies which compare various designs, would be of interest. Of particular value are theoretical papers which discuss the applicability of new work or applications which engender new theoretical applications.