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基于量测噪声和观测次数的EKF-SLAM一致性分析

李慧平 徐德民 张福斌 姚尧

李慧平, 徐德民, 张福斌, 姚尧. 基于量测噪声和观测次数的EKF-SLAM一致性分析. 自动化学报, 2009, 35(9): 1177-1184. doi: 10.3724/SP.J.1004.2009.01177
引用本文: 李慧平, 徐德民, 张福斌, 姚尧. 基于量测噪声和观测次数的EKF-SLAM一致性分析. 自动化学报, 2009, 35(9): 1177-1184. doi: 10.3724/SP.J.1004.2009.01177
LI Hui-Ping, XU De-Min, ZHANG Fu-Bin, YAO Yao. Consistency Analysis of EKF-based SLAM by Measurement Noise and Observation Times. ACTA AUTOMATICA SINICA, 2009, 35(9): 1177-1184. doi: 10.3724/SP.J.1004.2009.01177
Citation: LI Hui-Ping, XU De-Min, ZHANG Fu-Bin, YAO Yao. Consistency Analysis of EKF-based SLAM by Measurement Noise and Observation Times. ACTA AUTOMATICA SINICA, 2009, 35(9): 1177-1184. doi: 10.3724/SP.J.1004.2009.01177

基于量测噪声和观测次数的EKF-SLAM一致性分析

doi: 10.3724/SP.J.1004.2009.01177
详细信息
    通讯作者:

    李慧平

Consistency Analysis of EKF-based SLAM by Measurement Noise and Observation Times

More Information
    Corresponding author: LI Hui-Ping
  • 摘要: Inconsistency is a fundamental problem in simultaneous localization and mapping (SLAM). Previous works from predecessors have studied the inconsistent problem of extended Kalman filter (EKF) SLAM algorithm focusing on the linearization errors. In this paper, we studied the inconsistency issue of EKF SLAM in theory based on measurement noise and observation time. In a simplified situation, we deduced some useful theorems of estimated covariance matrix. Then, we made use of them to investigate the inconsistency issue. We showed that the measurement noise and the observation times can drive the EKF SLAM out of consistency. Moreover, we demonstrated the explicit effects of measurement noise and observation times on inconsistency of the EKF SLAM. Our simulation experiments verified the results.
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出版历程
  • 收稿日期:  2008-06-26
  • 修回日期:  2008-12-20
  • 刊出日期:  2009-09-20

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