The Application of Square-root Cubature Kalman Filter in SLAM for Underwater Robot
文献类型：会议论文
| 作者 | Ai JW(艾静文); Li X(李勋); Feng YB(冯迎宾); Huang RH(黄荣辉); Zhang X(仉新); Liu SG(刘顺贵) |
| 出版日期 | 2017 |
| 会议名称 | 2017 Chinese Automation Congress (CAC2017) & China Intelligent Manufacturing International Conference (CIMIC2017) |
| 会议日期 | October 20-22, 2017 |
| 会议地点 | Jinan, China |
| 关键词 | simultaneous localization and mapping(SLAM) square root cubature Kalman filter Jacobian matrix underwater robots |
| 页码 | 2183-2187 |
| 通讯作者 | Li X(李勋) |
| 中文摘要 | For simultaneous localization and mapping(SLAM) of underwater robots, the extended kalman filter algorithm has the problems of slow convergence rate, low accuracy and poor numerical stability, and square root cubature Kalman filter SLAM algorithm (SRCKF-SLAM) for mobile robots is designed according to cubature Kalman filter (CKF) principle. The cubature rule is utilized to calculate Gaussian weighted integral of the nonlinear function and robot pose particle’s weight. The square root of the covariance is usedto replace the system covariance matrix, which reduces the influence of truncation error on precision of SLAM. Simulation results show that the SRCKF algorithm has the advantages of high estimation accuracy, fast speed and stable convergence, which verify the effectiveness of the algorithm. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 2 |
| 会议录 | 2017 Chinese Automation Congress (CAC2017) & China Intelligent Manufacturing International Conference (CIMIC2017)
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| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-5386-3524-7 |
| WOS记录号 | WOS:000427816102049 |
| 源URL | [http://ir.sia.cn/handle/173321/21292]  |
| 专题 | 沈阳自动化研究所_水下机器人研究室 |
| 作者单位 | 1.School of Mechanical Engineering, Shenyang University of Technology, Shenyang, Liaoning 110870, China 2.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang Liaoning 110870, China |
| 推荐引用方式 GB/T 7714 | Ai JW,Li X,Feng YB,et al. The Application of Square-root Cubature Kalman Filter in SLAM for Underwater Robot[C]. 见:2017 Chinese Automation Congress (CAC2017) & China Intelligent Manufacturing International Conference (CIMIC2017). Jinan, China. October 20-22, 2017. |
入库方式： OAI收割
来源：沈阳自动化研究所
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