{"title":"An adaptive EKF-SLAM algorithm for cooperative navigation of multi-aircrafts","authors":"Wei Chen, Shan Jiang, Jiarong Cao, Ruisheng Sun","doi":"10.1049/cth2.12750","DOIUrl":null,"url":null,"abstract":"<p>Aiming at cooperative navigation of multi-aircrafts, an adaptive EKF-SLAM algorithm for non-fixed landmark is proposed. First, the aircraft motion model and angle measurement model are established. Second, the fixed landmark cooperative EKF-SLAM algorithm is established. Furthermore, a distributed EKF-SLAM algorithm is designed. Then, the adaptive EKF-SLAM algorithm with non-fixed landmark is proposed. Finally, simulation results verify the effectiveness of the proposed algorithm.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"18 18","pages":"2823-2829"},"PeriodicalIF":2.2000,"publicationDate":"2024-10-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12750","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IET Control Theory and Applications","FirstCategoryId":"94","ListUrlMain":"https://onlinelibrary.wiley.com/doi/10.1049/cth2.12750","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
Aiming at cooperative navigation of multi-aircrafts, an adaptive EKF-SLAM algorithm for non-fixed landmark is proposed. First, the aircraft motion model and angle measurement model are established. Second, the fixed landmark cooperative EKF-SLAM algorithm is established. Furthermore, a distributed EKF-SLAM algorithm is designed. Then, the adaptive EKF-SLAM algorithm with non-fixed landmark is proposed. Finally, simulation results verify the effectiveness of the proposed algorithm.
期刊介绍：
IET Control Theory & Applications is devoted to control systems in the broadest sense, covering new theoretical results and the applications of new and established control methods. Among the topics of interest are system modelling, identification and simulation, the analysis and design of control systems (including computer-aided design), and practical implementation. The scope encompasses technological, economic, physiological (biomedical) and other systems, including man-machine interfaces.
Most of the papers published deal with original work from industrial and government laboratories and universities, but subject reviews and tutorial expositions of current methods are welcomed. Correspondence discussing published papers is also welcomed.
Applications papers need not necessarily involve new theory. Papers which describe new realisations of established methods, or control techniques applied in a novel situation, or practical studies which compare various designs, would be of interest. Of particular value are theoretical papers which discuss the applicability of new work or applications which engender new theoretical applications.
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