%0 Journal Article
%T 基于量测噪声和观测次数的EKF-SLAM一致性分析
%A 李慧平
%A 徐德民
%A 张福斌
%A 姚尧
%J 自动化学报
%P 1177-1184
%D 2009
%R 10.3724/SP.J.1004.2009.01177
%X ？Inconsistencyisafundamentalprobleminsimultaneouslocalizationandmapping(SLAM).PreviousworksfrompredecessorshavestudiedtheinconsistentproblemofextendedKalmanfilter(EKF)SLAMalgorithmfocusingonthelinearizationerrors.Inthispaper,westudiedtheinconsistencyissueofEKFSLAMintheorybasedonmeasurementnoiseandobservationtime.Inasimplifiedsituation,wededucedsomeusefultheoremsofestimatedcovariancematrix.Then,wemadeuseofthemtoinvestigatetheinconsistencyissue.WeshowedthatthemeasurementnoiseandtheobservationtimescandrivetheEKFSLAMoutofconsistency.Moreover,wedemonstratedtheexpliciteffectsofmeasurementnoiseandobservationtimesoninconsistencyoftheEKFSLAM.Oursimulationexperimentsverifiedtheresults.
%K Simultaneouslocalizationandmapping(SLAM)
%K extendedKalmanfilter(EKF)
%K consistency
%K measurementnoise
%K observationtimes
%U http://www.aas.net.cn/CN/abstract/abstract13563.shtml