Anzeige
Erschienen in:
2015 | OriginalPaper | Buchkapitel
Adaptive UKF-SLAM Based on Magnetic Gradient Inversion Method for Underwater Navigation
verfasst von : Meng Wu, Jian Yao
Erschienen in: Intelligent Robotics and Applications
Aktivieren Sie unsere intelligente Suche, um passende Fachinhalte oder Patente zu finden.
Wählen Sie Textabschnitte aus um mit Künstlicher Intelligenz passenden Patente zu finden. powered by
Markieren Sie Textabschnitte, um KI-gestützt weitere passende Inhalte zu finden. powered by
Consider the two characteristics: (1) Simultaneous localization and mapping (SLAM) is a popular algorithm for autonomous underwater vehicle, but visual SLAM is significantly influenced by weak illumination. (2) Geomagnetism-aided navigation and gravity-aided navigation are equally important methods in the field of vehicle navigation, but both are affected heavily by time-varying noises and terrain fluctuations. However, magnetic gradient vector can avoid the influence of time-varying noises, and is less affected by terrain fluctuations. To this end, we propose an adaptive SLAM-based magnetic gradient aided navigation with the following advantages: (1) Adaptive SLAM is an efficient way to deal with uncertainty of the measurement model. (2) Magnetic gradient inversion equation is a good alternative to be used as measurement equation in visual SLAM-denied environment. Experimental results show that our proposed method is an effective solution, combining magnetic gradient information with SLAM.