无人作战平台的同步定位与地图创建研究

Research on Simultaneous Localization and Map Building for Unmanned Combat Platform

针对无人作战平台存在着对通信链路高度依赖的问题,重点研究无人作战平台导航控制中的同步定位与地图创建技术。论文针对无人作战平台的同步定位与地图创建问题,采用扩展卡尔曼滤波来对无人作战平台位置和地图特征位置进行联合估计,完成了基于扩展卡尔曼滤波的同步定位与地图创建的预测。最后通过仿真验证了该预测模型的准确性。

For the problem that unmanned combat platform highly dependents on the communication link,this paper mainly researches the related technologies of simultaneous localization and map building for unmanned combat platform in unknown environment.Based on the problem of synchronous positioning and map creation for unmanned combat platforms,the extended Kalman filter is used to jointly estimate the position of the unmanned combat platform and the location of the map features is completed.The prediction of synchronous localization and mapping algorithm based on extended Kalman filter.Finally,the accuracy of prediction model is verified by simulation.