| Popis: |
Simultaneous localization and mapping (SLAM) faces significant challenges due to high computational costs, low accuracy, and instability, which are particularly problematic because SLAM systems often operate in real-time environments where timely and precise state estimation is crucial. High computational costs can lead to delays, low accuracy can result in incorrect mapping and localization, and instability can make the entire system unreliable, especially in dynamic or complex environments. As the state-space dimension increases, the filtering error of the standard cubature Kalman filter (CKF) grows, leading to difficulties in multiplicative noise propagation and instability in state estimation results. To address these issues, this paper proposes an extended-dimensional embedded CKF based on truncated singular-value decomposition (TSVD-AECKF). Firstly, singular-value decomposition (SVD) is employed instead of the Cholesky decomposition in the standard CKF to mitigate the non-positive definiteness of the state covariance matrix. Considering the effect of small singular values on the stability of state estimation, a method is provided to truncate singular values by determining the truncation threshold using the Akaike information criterion (AIC). Furthermore, the system noise is embedded into the state variables, and an embedding volume criterion is used to improve the conventional CKF while extending the dimensionality. Finally, the proposed algorithm was validated and analyzed through both simulations and real-world experiments. The results indicate that the proposed method effectively mitigates the increase in localization error as the state-space dimension grows, enhancing time efficiency by 55.54%, and improving accuracy by 35.13% compared to the standard CKF algorithm, thereby enhancing the robustness and stability of mapping. |
