Simultaneous localization and method for mapping via an elastic nonlinear filtering

摘要

The process according to the invention consists in the underwater vehicle that moves on a given zone of the seabed, and executes the observation underlying estimating the position of the object and the relief elements are present on the seabed. It is associated with a fictional object, these observations constitute an elastic network of fictitious are linked together by an elastic link fictitious. The network, as long as the effect is not exerted on one or other of fictitious objects that make up the network are in equilibrium. Then, a fixed position, ie, the object occupies a position assigned to the observation that the corresponding. On the other hand, if the observation of two was assumed to correspond to the same object, fused to a single observation, fictitious object corresponding two is close. By being close to this, the appearance of stress in the elastic hypothetical network is triggered. Position that is eliminated by a modification of the position of the imaginary object in the network, has been modified, these stresses to be transmitted by the elastic link fictional, is assigned to the observation that the corresponding. Thus, when the estimated position of the object forming the subject of observation fused two is corrected, the measurement of the estimated position of the object respectively to yield the observations expressed in the elastic network fictional correction I benefit advantageously from.