CAJ | 학술논문

针对传统的基于扩展卡尔曼滤波的SLAM算法对环境干扰修复速度较慢的缺陷，提出一种EKF-SLAM的改进方法。通过比较 EKF-SLAM 算法的预测和观测两个过程所得数据，判断是否存在较大的环境干扰。若环境干扰较大，则加大先验估计误差协方差的调整，使状态在经过校正后更快速地接近真实值，提高算法的实时性和抗干扰性。最后使用Matlab对改进EKF-SLAM进行仿真实验，结果表明改进EKF-SLAM算法的有效性和估计精度都比传统EKF-SLAM高。
침대전통적기우확전잡이만려파적SLAM산법대배경간우수복속도교만적결함，제출일충EKF-SLAM적개진방법。통과비교 EKF-SLAM 산법적예측화관측량개과정소득수거，판단시부존재교대적배경간우。약배경간우교대，칙가대선험고계오차협방차적조정，사상태재경과교정후경쾌속지접근진실치，제고산법적실시성화항간우성。최후사용Matlab대개진EKF-SLAM진행방진실험，결과표명개진EKF-SLAM산법적유효성화고계정도도비전통EKF-SLAM고。
The traditional SLAM algorithm based on extended kalmanfilter has a problem with low speed of repairing environmentaldisturbance. To solve the problem, this paper proposes an improved method of EKF-SLAM. The simulation of the improved EKF-SLAM algorithm with using Matlab isconducted. The result shows that effectiveness andprecision of the improved EKF-SLAM algorithm is higher than the traditional EKF-SLAM.