An adaptive EKF‐SLAM algorithm for cooperative navigation of multi‐aircrafts
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.
Authors
- Shan Jiang (ORCID: https://orcid.org/0000-0002-5518-5335)
- Ruisheng Sun (ORCID: https://orcid.org/0000-0001-9761-3863)
- Wei Chen (ORCID: https://orcid.org/0000-0003-0707-032X)
- Jiarong Cao
Institutions
- Nanjing University of Science and Technology (CN)
Publication Details
- Journal
- IET Control Theory and Applications
- Published
- 2024-10-14
- DOI
- https://doi.org/10.1049/cth2.12750
- Citations
- 4
- Primary Topic
- Robotics and Sensor-Based Localization
- Type
- article
- Field-Weighted Citation Impact
- 5.20
Funders
- State Key Laboratory for Underwater Information and Control