Autonomous Navigation Based on SEIF with Consistency Constraint for C-Ranger AUV
Joint Authors
He, B.
Liu, Yang
Shen, Yue
Zhang, Hao
Yan, Tianhong
Source
Mathematical Problems in Engineering
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-09-10
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
An autonomous underwater vehicle (AUV) has to solve two essential problems in underwater environment, namely, localization and mapping.
SLAM is one novel solution to estimate locations and maps simultaneously based on motion models and sensor measurements.
Sparse extended information filter (SEIF) is an effective algorithm to reduce storage and computational costs of large-scale maps in the SLAM problem.
However, there exists the inconsistency in the SEIF since the rank of the observability matrix of linearized error-state model in SLAM system is higher than that of the nonlinear SLAM system.
By analyzing the consistency of the SEIF-based SLAM from the perspective of observability, a SLAM based on SEIF with consistency constraint (SEIF-CC SLAM) is developed to improve the estimator’s consistency.
The proposed algorithm uses the first-ever available estimates to calculate SEIF Jacobians for each of the state variables, called the First Estimates Jacobian (FEJ).
Then, the linearized error-state model can keep the same observability as the underlying nonlinear SLAM system.
The capability of autonomous navigation with the proposed algorithm is validated through simulations experiments and sea trials for a C-Ranger AUV.
Experimental results show that the proposed SEIF-CC SLAM algorithm yields more consistent and accurate estimates compared with the SEIF-based SLAM.
American Psychological Association (APA)
Shen, Yue& Zhang, Hao& He, B.& Yan, Tianhong& Liu, Yang. 2015. Autonomous Navigation Based on SEIF with Consistency Constraint for C-Ranger AUV. Mathematical Problems in Engineering،Vol. 2015, no. 2015, pp.1-12.
https://search.emarefa.net/detail/BIM-1074643
Modern Language Association (MLA)
Shen, Yue…[et al.]. Autonomous Navigation Based on SEIF with Consistency Constraint for C-Ranger AUV. Mathematical Problems in Engineering No. 2015 (2015), pp.1-12.
https://search.emarefa.net/detail/BIM-1074643
American Medical Association (AMA)
Shen, Yue& Zhang, Hao& He, B.& Yan, Tianhong& Liu, Yang. Autonomous Navigation Based on SEIF with Consistency Constraint for C-Ranger AUV. Mathematical Problems in Engineering. 2015. Vol. 2015, no. 2015, pp.1-12.
https://search.emarefa.net/detail/BIM-1074643
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1074643