An improved EKF-SLAM automatic dropping cloth vehicle positioning algorithm
| Title: | An improved EKF-SLAM automatic dropping cloth vehicle positioning algorithm |
|---|---|
| Authors: | SHEN Danfeng, SHANG Guofei, ZHAO Gang, BAI Shunwei, FU Maowen |
| Source: | Xi'an Gongcheng Daxue xuebao, Vol 36, Iss 6, Pp 77-85 (2022) |
| Publisher Information: | Editorial Office of Journal of XPU, 2022. |
| Publication Year: | 2022 |
| Collection: | LCC:Materials of engineering and construction. Mechanics of materials LCC:Environmental engineering |
| Subject Terms: | extended kalman filter, simultaneous localization and mapping, muti-innovation theory, nonlinear system, Materials of engineering and construction. Mechanics of materials, TA401-492, Environmental engineering, TA170-171 |
| More Details: | In order to improve the positioning accuracy of the automatic dropping cloth vehicle, the problem of increasing error and decreasing positioning accuracy in the strongly nonlinear system is solved by the extended Kalman filter simultaneous localization and mapping (SLAM) algorithm. In this paper, an integrated muti-innovation extended Kalman filter simultaneous localization and mapping (IMI-EKF-SLAM) algorithm was proposed, which enabled the automatic dropping cloth vehicle localization system to change from a single update to multiple iterations in the process of state update, and explored the iteration value n and the new interest dimension p. The simulation and experimental results show that the improved algorithm reduces the state estimation error and the IMI-EKF-SLAM algorithm locates best when the iteration value n is 2 and the new interest dimension p is 3. |
| Document Type: | article |
| File Description: | electronic resource |
| Language: | Chinese |
| ISSN: | 1674-649X 1674-649x |
| Relation: | http://journal.xpu.edu.cn/en/#/digest?ArticleID=1276; https://doaj.org/toc/1674-649X |
| DOI: | 10.13338/j.issn.1674-649x.2022.06.011 |
| Access URL: | https://doaj.org/article/e4517f80e7ae436a8f7057b6db9342d6 |
| Accession Number: | edsdoj.4517f80e7ae436a8f7057b6db9342d6 |
| Database: | Directory of Open Access Journals |
| ISSN: | 1674649X 1674649x |
|---|---|
| DOI: | 10.13338/j.issn.1674-649x.2022.06.011 |
| Published in: | Xi'an Gongcheng Daxue xuebao |
| Language: | Chinese |