Results from the Simulation of a Decoupled Concurrent Mapping and Localization Technique 1

摘要

Increasing interest by the United States Navy in non-traditional navigation algorithms forrnUnmanned Undersea Vehicles (UUV) has lead to the development of decoupled concurrent mappingrnand localization (DCML) techniques. DMCL, though having unbounded errors, provides a potentialrnnavigational aid that can increase covertness and limit the exposure of an Unmanned UndersearnVehicle. This paper presents the simulation results of a DCML technique developed by the Navy. Thernfirst portion of the paper summaries the DCML algorithm original published in 1998. This techniquernutilizes a Kalman filter to estimate the location of the vehicle based upon features identified from arnforward-looking sonar. A comprehensive vehicle simulator is used to generate the simulated sonarrnreturns as range and bearing to targets. The feature characterization and association process groupsrnand identifies common features between each ping. Lastly, a MATLAB? simulation of the DCMLrntechnique is presented. Results are presented from a short straights run and a longer run that follow arn“mower” type pattern over several thousand feet.