TY - GEN
T1 - Towards robust airborne slam in unknown wind environments
AU - Kim, Jonghyuk
AU - Sukkarieh, Salah
PY - 2005
Y1 - 2005
N2 - This paper presents a robust multi-loop air- borne SLAM structure which augments wind information into the state of 6DoF Simultane- ous Localisation and Mapping (SLAM). The relative air velocity observation from an air data system can be used to estimate the error of the vehicle state. However due to a priori unknown wind information, it cannot directly be used for that purpose. This can be tack- led by augmenting this information into SLAM and estimating it simultaneously with the ve- hicle state. This can significantly increase the consistency of airborne SLAM at the time of loop closure. The air velocity based SLAM loop limits the error growth of the velocity and at- titude effectively and the feature based SLAM loop bounds the position error growth. Simu- lation results show that wind information can be estimated consistently and the robustness of airborne SLAM improves significantly.
AB - This paper presents a robust multi-loop air- borne SLAM structure which augments wind information into the state of 6DoF Simultane- ous Localisation and Mapping (SLAM). The relative air velocity observation from an air data system can be used to estimate the error of the vehicle state. However due to a priori unknown wind information, it cannot directly be used for that purpose. This can be tack- led by augmenting this information into SLAM and estimating it simultaneously with the ve- hicle state. This can significantly increase the consistency of airborne SLAM at the time of loop closure. The air velocity based SLAM loop limits the error growth of the velocity and at- titude effectively and the feature based SLAM loop bounds the position error growth. Simu- lation results show that wind information can be estimated consistently and the robustness of airborne SLAM improves significantly.
UR - http://www.scopus.com/inward/record.url?scp=84862948645&partnerID=8YFLogxK
M3 - Conference contribution
SN - 0958758379
SN - 9780958758376
T3 - Proceedings of the 2005 Australasian Conference on Robotics and Automation, ACRA 2005
BT - Proceedings of the 2005 Australasian Conference on Robotics and Automation, ACRA 2005
T2 - 2005 Australian Conference on Robotics and Automation, ACRA 2005
Y2 - 5 December 2005 through 7 December 2005
ER -