Topographic SLAM Using a Single Terrain Altimeter in GNSS-Restricted Environment

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In a Global Navigation Satellite System (GNSS)-restricted area, a mobile robot navigation system exploits surrounding environment information. For an aerial or underwater vehicle, undulating terrain of a land or seabed surface is a valuable information resource that leads to the development of terrain-referenced navigation (TRN) algorithms. However, due to the vast amount of a vehicle's activity area, surveying all the regions to obtain a high-resolution terrain map is impractical and requires simultaneous localization and mapping (SLAM) as a highly desirable capability. This paper presents a topographic SLAM algorithm using only a single terrain altimeter, which is low-cost, computationally efficient, and sufficiently stable for long-term operation. The proposed rectangular panel map structure and update method enable robust and efficient SLAM. As terrain elevation changes are inherently nonlinear, an extended Kalman filter (EKF)-based SLAM filter is adopted. The feasibility and validity of the proposed algorithm are demonstrated through simulations using terrain elevation data from a real-world undersea environment.
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Issue Date
2022-01
Language
English
Article Type
Article
Citation

IEEE ACCESS, v.10, pp.10806 - 10815

ISSN
2169-3536
DOI
10.1109/ACCESS.2022.3145978
URI
http://hdl.handle.net/10203/292261
Appears in Collection
ME-Journal Papers(저널논문)
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