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自动化学报 2009
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, PP. 1177-1184 Keywords: Simultaneouslocalizationandmapping(SLAM),extendedKalmanfilter(EKF),consistency,measurementnoise,observationtimes Abstract: ？Inconsistencyisafundamentalprobleminsimultaneouslocalizationandmapping(SLAM).PreviousworksfrompredecessorshavestudiedtheinconsistentproblemofextendedKalmanfilter(EKF)SLAMalgorithmfocusingonthelinearizationerrors.Inthispaper,westudiedtheinconsistencyissueofEKFSLAMintheorybasedonmeasurementnoiseandobservationtime.Inasimplifiedsituation,wededucedsomeusefultheoremsofestimatedcovariancematrix.Then,wemadeuseofthemtoinvestigatetheinconsistencyissue.WeshowedthatthemeasurementnoiseandtheobservationtimescandrivetheEKFSLAMoutofconsistency.Moreover,wedemonstratedtheexpliciteffectsofmeasurementnoiseandobservationtimesoninconsistencyoftheEKFSLAM.Oursimulationexperimentsverifiedtheresults.
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