An Adaptive UKF Based SLAM Method for Unmanned Underwater Vehicle
Joint Authors
Fu, Guixia
Wang, Hongjian
Bian, Xinqian
Yan, Zheping
Li, Juan
Source
Mathematical Problems in Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-11-06
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
This work proposes an improved unscented Kalman filter (UKF)-based simultaneous localization and mapping (SLAM) algorithm based on an adaptive unscented Kalman filter (AUKF) with a noise statistic estimator.
The algorithm solves the issue that conventional UKF-SLAM algorithms have declining accuracy, with divergence occurring when the prior noise statistic is unknown and time-varying.
The new SLAM algorithm performs an online estimation of the statistical parameters of unknown system noise by introducing a modified Sage-Husa noise statistic estimator.
The algorithm also judges whether the filter is divergent and restrains potential filtering divergence using a covariance matching method.
This approach reduces state estimation error, effectively improving navigation accuracy of the SLAM system.
A line feature extraction is implemented through a Hough transform based on the ranging sonar model.
Test results based on unmanned underwater vehicle (UUV) sea trial data indicate that the proposed AUKF-SLAM algorithm is valid and feasible and provides better accuracy than the standard UKF-SLAM system.
American Psychological Association (APA)
Wang, Hongjian& Fu, Guixia& Li, Juan& Yan, Zheping& Bian, Xinqian. 2013. An Adaptive UKF Based SLAM Method for Unmanned Underwater Vehicle. Mathematical Problems in Engineering،Vol. 2013, no. 2013, pp.1-12.
https://search.emarefa.net/detail/BIM-1032020
Modern Language Association (MLA)
Wang, Hongjian…[et al.]. An Adaptive UKF Based SLAM Method for Unmanned Underwater Vehicle. Mathematical Problems in Engineering No. 2013 (2013), pp.1-12.
https://search.emarefa.net/detail/BIM-1032020
American Medical Association (AMA)
Wang, Hongjian& Fu, Guixia& Li, Juan& Yan, Zheping& Bian, Xinqian. An Adaptive UKF Based SLAM Method for Unmanned Underwater Vehicle. Mathematical Problems in Engineering. 2013. Vol. 2013, no. 2013, pp.1-12.
https://search.emarefa.net/detail/BIM-1032020
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1032020