基于EKF-SLAM的AUV自主导航算法的多线程实现  

Multithread Implementation of AUV Autonomous Navigation Technology Based on EKF-SLAM Algorithm

作　　者：齐林庆[1] 

机构地区：[1]中国海洋大学信息科学与工程学院,山东青岛266100

出　　处：《现代电子技术》2011年第16期133-136,共4页Modern Electronics Technique

基　　金：国家863计划资助项目:基于同时定位与地图构建方法的AUV自主导航技术(2006AA09Z231)

摘　　要：针对海巡者号(C-RANGER)AUV平台以及适用于此平台的EKF-SLAM算法模型,为了提高算法的运算速度和系统的时效性,对EKF-SLAM算法进行了并发执行的可行性分析,并运用多线程技术对算法的实现进行了改进。为了验证效果做了测试实验。通过对实验结果的分析表明,采用多线程技术可以改善EKF-SLAM算法的效率和系统性能。As far as the sea patrol（C-RANGER） AUV platform and the EKF-SLAM algorithm model which is applicable to the platform,in order to improve the operation speed of the algorithm and timeliness of the system,the feasibility of parallel execution of SLAM algorithm is analyzed,the multithreading technology is used to improve the implementation of algorithm,and many test experiments are performed to verify the experimental results.Through analysis of the experimental result,it is shown that multithread technology can improve the efficiency of the algorithm EKF-SLAM and performance of the system.

关 键 词：AUV EKF-SLAM 自主导航 多线程 

分 类 号：TN919-34[电子电信—通信与信息系统]