Towards robust airborne slam in unknown wind environments

Jonghyuk Kim*, Salah Sukkarieh

*Corresponding author for this work

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

    Abstract

    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.

    Original languageEnglish
    Title of host publicationProceedings of the 2005 Australasian Conference on Robotics and Automation, ACRA 2005
    Publication statusPublished - 2005
    Event2005 Australian Conference on Robotics and Automation, ACRA 2005 - Sydney, NSW, Australia
    Duration: 5 Dec 20057 Dec 2005

    Publication series

    NameProceedings of the 2005 Australasian Conference on Robotics and Automation, ACRA 2005

    Conference

    Conference2005 Australian Conference on Robotics and Automation, ACRA 2005
    Country/TerritoryAustralia
    CitySydney, NSW
    Period5/12/057/12/05

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