Dynamics-Based Modified Fast Simultaneous Localization and Mapping for Unmanned Aerial Vehicles With Joint Inertial Sensor Bias and Drift Estimation

Dynamics-Based Modified Fast Simultaneous Localization and Mapping for Unmanned Aerial Vehicles With Joint Inertial Sensor Bias and Drift Estimation

In this paper, the problem of simultaneous localization and mapping (SLAM) using a modified Rao Blackwellized Particle Filter (RBPF) (a modified FastSLAM) is developed for a quadcopter system. It is intended to overcome the problem of inaccurate localization and mapping caused by inertial sensory fa...

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Bibliographic Details
Main Authors: Nargess Sadeghzadeh-Nokhodberiz, Aydin Can, Rustam Stolkin, Allahyar Montazeri
Format: Article
Language:English
Published: IEEE 2021-01-01
Series:IEEE Access
Subjects:
Unmanned aerial vehicle (UAV)
Rao Blackwellized particle filtering (RBPF)
simultaneous localization and mapping (SLAM)
FastSLAM
inertial sensors
sensor calibration
Online Access:https://ieeexplore.ieee.org/document/9521156/

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