dc.contributor.author | Bjørne, Elias | |
dc.contributor.author | Johansen, Tor Arne | |
dc.contributor.author | Brekke, Edmund Førland | |
dc.date.accessioned | 2017-12-13T12:16:27Z | |
dc.date.available | 2017-12-13T12:16:27Z | |
dc.date.created | 2017-12-09T14:27:41Z | |
dc.date.issued | 2017 | |
dc.identifier.isbn | 978-0-9964527-5-5 | |
dc.identifier.uri | http://hdl.handle.net/11250/2471165 | |
dc.description.abstract | The Simultaneous Localization And Mapping (SLAM) estimation problem is a nonlinear problem, due to the nature of the range and bearing measurements. In latter years it has been demonstrated that if the nonlinearities from the attitude are handled by a separate nonlinear observer, the SLAM dynamics can be represented as a linear time varying (LTV) system, by introducing these nonlinearities and nonlinear measurements as time varying vectors and matrices. This makes the SLAM estimation problem globally solvable with a Kalman filter, however, the noise structure is no longer trivial. In this paper, a new bearings only SLAM estimation algorithm is presented, including a novel design of the noise covariance matrices. Simulations of the SLAM estimator are presented, and show the performance of the state and uncertainty estimates, as well as the stability of the proposed estimator. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | nb_NO |
dc.relation.ispartof | 20th International Conference on Information Fusion | |
dc.title | Redesign and Analysis of Globally Asymptotically Stable Bearing Only SLAM | nb_NO |
dc.type | Chapter | nb_NO |
dc.type | Peer reviewed | nb_NO |
dc.description.version | acceptedVersion | nb_NO |
dc.identifier.doi | 10.23919/ICIF.2017.8009864 | |
dc.identifier.cristin | 1525166 | |
dc.relation.project | Norges forskningsråd: 250725 | nb_NO |
dc.relation.project | Norges forskningsråd: 223254 | nb_NO |
dc.description.localcode | © 2047 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | nb_NO |
cristin.unitcode | 194,63,25,0 | |
cristin.unitname | Institutt for teknisk kybernetikk | |
cristin.ispublished | true | |
cristin.fulltext | postprint | |