3D inertial algorithm of SLAM for using on UAV

摘要

The simultaneous localization and mapping (SLAM) is a main problem in navigation of autonomous robots and solving it is interesting for researchers. Nowadays the SLAM technique is one of key part the navigation systems. In this paper, an efficient inertia SLAM algorithm has been presented for an unmanned aerial vehicle (UAV) or any airborne vehicle. The structure of mentioned inertial SLAM algorithm is appropriate for application in both the Range/Bearing and Bearing-only inertial sensors. This algorithm is independent of any external positioning information such as global positioning system (GPS) or any prepared data of terrain sensors. This work proposes a perfect system that improves the efficiency and accuracy of 3D inertial SLAM and over comes two main problems that less consideration is available about them in previous researches. First, it considers all of freedom degrees such as altitude, the latitude and longitude for UAV. Second, the algorithm based on inertial sensors is able to observe all of landmarks in various heights. Finally, using real flight data, the proposed algorithm is tested and the results showed desired performance of the algorithm for inertial system.