结合多维泰勒网策略优化EKF-SLAM算法一致性的新方法研究  

A New Method for Optimizing the Consistency of EKF-SLAM Algorithm Based on Multi-Dimensional Taylor-Net Strategy

作　　者：耿小毛 

机构地区：[1]上海理工大学理学院,上海

出　　处：《理论数学》2024年第5期324-334,共11页Pure Mathematics

摘　　要：本文旨在非线性SLAM系统中设计一种改进的EKF-SLAM算法进行状态估计和构建一致性地图。通过引入多维泰勒网和第一估计雅可比矩阵方法,我们提出了一种新颖的估计算法,旨在提高系统的鲁棒性和构建地图的一致性。本研究首先介绍了多维泰勒网的基本原理,数学模型和EKF-SLAM算法的可观性分析,然后详细描述了改进的EKF-SLAM算法的设计和实现过程。我们通过仿真实验验证了该改进算法在非线性SLAM系统中的有效性和优越性,结果表明,该改进算法在对系统状态估计和构建一致地图方面有着很好的效果。This manuscript aims to design an improved EKF-SLAM algorithm for state estimation and consistency map construction in nonlinear SLAM systems. By introducing multi-dimensional Taylor nets and the first estimate Jacobian matrix method, we propose a novel estimation algorithm aimed at improving the robustness of the system and the consistency of the constructed map. This manuscript first introduces the basic principle of multi-dimensional Taylor net, mathematical model and observability analysis of EKF-SLAM algorithm, and then describes the design and implementation process of improved EKF-SLAM algorithm in detail. The effectiveness and superiority of the improved algorithm in nonlinear SLAM system are verified by simulation experiments. The results show that the improved algorithm has a good effect on the estimation of the system and the construction of a consistent map.

关 键 词：多维泰勒网 FEJ EKF-SLAM 鲁棒性 一致性 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]