An Evaluation of the Performance of Various C-SLAM EKF Observation Conu0002gurations

摘要

The performance of several different observation structures of an extended Kalman lter (EKF) designed for the purpose of cooperative simultaneous localization and mapping (C-SLAM) is analyzed. The observation structures consist of processing feature observations sequentially, processing This paper is declared a work of the U.S. Government and is not subject to copyright protection in the United States. multiple feature observations simultaneously, and processing both multiple feature and vehicle observations simultaneously. To evaluate lter performance, surveys of simulated features in an area are conducted using a single vehicle, three vehicles, and six vehicles. For each vehicular case, the survey is conducted multiple times using a different EKF observation con guration. Monte Carlo runs are used to evaluate the performance of the EKF in terms of the RMS error of the feature locations, the trace of the feature covariance matrix, and the vector-induced two-norm of the feature covariance matrix. The bene ts of increasing the number of survey vehicles is assessed as well as the bene ts of employing dual radar beams instead of one radar beam.