Towards Robust Airborne SLAM in Unknown Wind Environments
نویسندگان
چکیده
This paper presents a robust multi-loop airborne SLAM structure which augments wind information into the state of 6DoF Simultaneous 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 tackled by augmenting this information into SLAM and estimating it simultaneously with the vehicle 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 attitude effectively and the feature based SLAM loop bounds the position error growth. Simulation results show that wind information can be estimated consistently and the robustness of airborne SLAM improves significantly.
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